CN114244224B - Control method and system for solving position sensor abnormality - Google Patents
Control method and system for solving position sensor abnormality Download PDFInfo
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- CN114244224B CN114244224B CN202111388933.9A CN202111388933A CN114244224B CN 114244224 B CN114244224 B CN 114244224B CN 202111388933 A CN202111388933 A CN 202111388933A CN 114244224 B CN114244224 B CN 114244224B
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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
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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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
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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
- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention relates to a control method and a system for solving the problem of position sensor abnormality, comprising the following steps: monitoring whether the position angle signal acquired by the position sensor is abnormal or not in real time, if yes, executing the step S2, otherwise, executing the step S3; s2, switching to a position-free control mode, and controlling a motor by using a position-free angle signal obtained by calculating the position-free control mode; and S3, adopting the position angle signal acquired by the position sensor to control the motor, introducing a position-free control mode based on the existing position sensing control mode, realizing a dual-mode working mode, and rapidly switching to the position-free sensor mode when the position sensor is detected to be abnormal, so that the vehicle can continue to normally run, the condition of waiting for rescue is avoided, and the vehicle can be normally controlled when the position sensor is abnormal.
Description
Technical Field
The invention belongs to the technical field of vehicle control, and particularly relates to a control method and a control system for solving the problem of position sensor abnormality.
Background
The position sensor of the existing motor controller generally comprises a Hall sensor, a magnetic (or photoelectric) encoder, a rotary transformer and the like, wherein the rotary transformer is mainly applied to a vehicle, and the reliability and the precision are relatively high. However, whichever type of position sensor requires an identification and decoding circuit, there are drawbacks: when the sensor body is abnormal or the decoding circuit has a problem, the vehicle can not run and only wait for rescue; in addition, when the vehicle runs at a high speed, due to the errors of the hardware structure of the sensor and the decoding delay, the accuracy deviation exists in the recognition of the motor position by the controller, so that the efficiency is low, and even the vehicle is controlled unstably.
Disclosure of Invention
The invention aims to provide a control method and a control system for solving the problem of abnormality of a position sensor, so that vehicle control can be normally performed even when the position sensor is abnormal.
In order to solve the technical problems, the invention discloses a control method for solving the abnormality of a position sensor, which comprises the following steps:
s1, monitoring whether the position angle signal acquired by the position sensor is abnormal in real time, if yes, executing a step S2, otherwise, executing a step S3;
s2, switching to a position-free control mode, and controlling a motor by using a position-free angle signal obtained by calculating the position-free control mode;
and S3, adopting the position angle signals acquired by the position sensor to control the motor.
Further, the step S3 specifically includes the following steps:
judging whether the current vehicle is in a high-speed running mode, if so, carrying out motor control on a compensated angle signal obtained after position compensation on a position-free angle signal obtained by calculating in a position-free control mode and a position angle signal acquired by the position sensor, otherwise, adopting the position angle signal acquired by the position sensor to carry out motor control.
Further, in the step S3, the judging whether the current vehicle is in the high-speed driving mode specifically includes: judging whether the motor rotating speed of the current vehicle reaches a preset threshold value, if so, enabling the current vehicle to be in a high-speed running mode, otherwise, enabling the current vehicle not to be in the high-speed running mode.
Further, the step S2 further includes: and sending out a position abnormality alarm signal for prompting.
Further, the position-free angle signal calculated by the position-free control mode is specifically: .
In order to solve the technical problems, the invention also discloses a control system for solving the abnormality of the position sensor, which is applied to the control method for solving the abnormality of the position sensor, and comprises a rotary decoding circuit, wherein the rotary decoding circuit comprises a rotary digital converter, two paths of signal amplifying circuits and two paths of push-pull circuits;
the sine wave excitation negative signal and the sine wave excitation positive signal of the rotary digital converter are respectively and electrically connected with one input end of one signal amplifying circuit, the output end of each signal amplifying circuit is electrically connected with one input end of one push-pull circuit, and the output end of each push-pull circuit is electrically connected with one excitation end of the motor.
Further, the other input end of each path of signal amplifying circuit is connected with a bias voltage circuit.
Further, the sine positive terminal, the sine negative terminal, the cosine positive terminal and the cosine negative terminal of the rotary digital converter are respectively output to four corresponding motor rotary output signal terminals after passing through an RC filter circuit and a load resistor.
Further, the motor rotary-change output signal is also electrically connected with a bias voltage circuit.
Further, the rotary digital converter further comprises a power supply filter capacitor, an oscillating circuit and a peripheral connection circuit;
the rotary digital converter is electrically connected with the main control chip through a peripheral connection circuit, and the oscillation circuit provides reference frequency for the rotary digital converter.
Advantageous effects
A control method and a control system for solving the problem of position sensor abnormality are provided, a non-position control mode is introduced on the basis of the existing position sensor control mode, a dual-mode working mode is realized, when the position sensor abnormality is detected, the dual-mode working mode can be quickly switched to the non-position sensor mode, the vehicle can continue to normally run, the condition of waiting for rescue is avoided, and the vehicle control can be normally carried out when the position sensor is abnormal.
Drawings
FIG. 1 is a schematic flow chart of a control method for solving the abnormality of a position sensor;
FIG. 2 is a flow chart of a control method for solving the anomaly of the position sensor;
FIG. 3 is a schematic diagram of a control method for solving position sensor anomalies without position control mode;
FIG. 4 is a schematic diagram of a control system for resolving position sensor anomalies;
FIG. 5 is a schematic circuit diagram of a rotary decoding circuit in a control system for resolving position sensor anomalies;
FIG. 6 is a schematic diagram of signal waveforms of a rotary decoding circuit in a control system for solving position sensor anomalies;
FIG. 7 is a timing diagram of a serial interface of a rotary decoding circuit in a control system for solving position sensor anomalies.
Detailed Description
The present invention is described in further detail below by way of examples to enable those skilled in the art to practice the same by reference to the specification.
It will be understood that terms, such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
Example 1
As shown in fig. 1 to 3, a control method for solving an abnormality of a position sensor includes the steps of:
s1, monitoring whether the position angle signal acquired by the position sensor is abnormal in real time, if yes, executing a step S2, otherwise, executing a step S3;
s2, switching to a position-free control mode, and controlling a motor by using a position-free angle signal obtained by calculating the position-free control mode;
as shown in fig. 2, when the position angle signal acquired by the monitoring position sensor is abnormal, a position abnormality alarm signal needs to be sent to prompt. Meanwhile, the position-free angle signal obtained by calculating the position-free control mode also needs to be used after software filtering.
As shown in fig. 3, the position-free angle signal calculated in the position-free control mode is specifically:
s21, obtaining an instruction current through PI adjustment according to deviation of the instruction rotating speed and the actual rotating speed;
the command rotation speed is set by the MCU, and command currents of the D axis and the Q axis correspond to IdR and IqR in FIG. 2 respectively.
S22, according to deviation of the command current and the acquisition current of the D axis, obtaining the D axis voltage through PI regulation, according to deviation of the command current and the acquisition current of the Q axis, obtaining the Q axis voltage through PI regulation, and mathematically transforming the D axis voltage and the Q axis voltage into U, V, W three-phase voltages applied to the motor;
in fig. 2, the D-axis command current Idse, the acquisition current IdR, and the D-axis voltage vd, and the Q-axis command current Iqse, the acquisition current IqR, and the Q-axis voltage vr.
S23, detecting the current of the motor through a current transformer, then mathematically transforming the current into IdSS and IqSS, and mathematically transforming the IdSS and the IqSS into the acquisition current of the D axis and the acquisition current of the Q axis of the motor according to the angle difference;
s24, the observer calculates the angle difference between the actual angle of the motor and the applied control angle according to the motor parameter, the D-axis voltage, the acquisition current of the D-axis and the acquisition current of the Q-axis, and achieves the consistency of the estimated applied control angle and the actual angle of the running motor by adjusting the speed, wherein the angle difference delta theta has the formula:
wherein V is dc Is the D-axis voltage, I dc And I d All are D-axis current, I qc Is Q axis current, r is motor impedance, K e Is the back electromotive force of the motor, L d Is the D-axis inductance of the motor, L q Is the Q-axis inductance of the motor and ω is the angular velocity of the motor.
And S3, performing motor control by adopting position angle signals acquired by the position sensor.
As shown in fig. 2, the step S3 specifically includes the following steps:
judging whether the current vehicle is in a high-speed running mode, if so, performing motor control on a compensated angle signal obtained after position compensation on a position-free angle signal obtained by calculation of a position-free control mode and a position angle signal acquired by a position sensor, and otherwise, performing motor control by adopting the position angle signal acquired by the position sensor.
In step S3, whether the current vehicle is in the high-speed driving mode is specifically determined as follows: and judging whether the motor rotating speed of the current vehicle reaches a preset threshold value, if so, enabling the current vehicle to be in a high-speed running mode, and otherwise, enabling the current vehicle not to be in the high-speed running mode.
After the angle signal is obtained, the motor operation is controlled after angle calculation, coordinate transformation, PI adjustment, SVPWM generation and dead zone compensation are needed to be controlled.
Therefore, the no-position control mode is started simultaneously when the motor runs, and the position information estimated by the no-position control mode is only used as comparison and is not used for control when the motor runs in a non-high-speed running mode and the position sensor and related circuits are not abnormal. In the high-speed driving mode, the preset threshold value is 8000 revolutions, when the motor rotation speed reaches 8000 revolutions, the no-position control mode sends out a handshake application, updates and compensates the motor position information in real time, so that the structure error and time delay of the position sensor are avoided, the control precision and the operation efficiency of the motor are improved, meanwhile, the reliability and the vehicle driving stability are also improved, and the vehicle driving is more stable and comfortable.
Example two
As shown in fig. 4 to 7, the invention also discloses a control system for solving the abnormality of the position sensor, which is applied to the control method for solving the abnormality of the position sensor in the first embodiment, and comprises a motor controller part, a motor, an electric door lock, a gear switch, an electronic throttle, an instrument and a computer parameter setting port, wherein the embodiment mainly limits a rotary change decoding circuit in the motor controller.
In this embodiment, the rotary decoding circuit includes a rotary digitizer, two signal amplifying circuits and two push-pull circuits; the sine wave excitation negative signal and the sine wave excitation positive signal of the rotary digital converter are respectively and electrically connected with one input end of one path of signal amplifying circuit, the other input end of each path of signal amplifying circuit is connected with the bias voltage circuit, the output end of each path of signal amplifying circuit is electrically connected with the input end of one path of push-pull circuit, and the output end of each path of push-pull circuit is electrically connected with one excitation end of the motor.
The sine positive end, the sine negative end, the cosine positive end and the cosine negative end of the rotary digital converter are respectively output to four corresponding motor rotary output signal ends after passing through an RC filter circuit and a load resistor, and the motor rotary output signals are further electrically connected with a bias voltage circuit.
The rotary digital converter further comprises a power supply filter capacitor, an oscillating circuit and a peripheral connecting circuit;
the rotary digital converter is electrically connected with the main control chip through a peripheral connection circuit, and the oscillating circuit provides reference frequency for the rotary digital converter.
As can be seen from fig. 5, the present rotary digitizer adopts the decoding chip AD2S1210 of the AD company, which is a 10-bit to 16-bit resolution rotary digitizer, and is integrated with an on-chip programmable sine wave oscillator to provide sine wave excitation for the rotary digitizer, wherein the rotary digitizer in fig. 5 provides the port numbers thereof, and thus the port names thereof can be clearly known according to the decoding chip defined above and the port numbers in fig. 5.
The sine wave excitation negative signal of the rotary digital converter is fed into the signal amplifying circuit through a resistor R241, a resistor R242 and a capacitor C127, the resistor R127 is an amplifying circuit input resistor, the capacitor C83 is phase compensation, the resistor R131 is an amplifying proportion resistor, the operational amplifier output signal provides driving signals for the triodes N19 and P9 of the push-pull circuit through resistors R221 and D18, a resistor R125 and a resistor R129, the resistor R124 and the resistor R134 provide bias voltages for the triodes N19 and P9, the resistor R126, the resistor R211, the resistor R128, the resistor R233 and the triodes N19 and P9 form a push-pull circuit, and the push-pull output signal is output to the excitation negative (R2) of the motor through a pi-shaped filter circuit formed by a capacitor C45, a resistor R222 and a capacitor C91.
The sine wave excitation positive signal of the rotary digital converter is fed into the signal amplifying circuit through a resistor R243, a resistor R244 and a capacitor C132, the resistor R123 is an amplifying circuit input resistor, the capacitor C139 is a phase compensation resistor, the resistor R130 is an amplifying proportion resistor, the operational amplifier output signal provides driving signals for the triodes N21 and P10 of the push-pull circuit through resistors R238 and D19, the resistor R139 and the resistor R144, the resistor R138 and the resistor R157 provide bias voltages for the triodes N21 and P10, the resistor R152, the resistor R237, the resistor R154, the resistor R240 and the triodes N21 and P10 form a push-pull circuit, and the push-pull output signal is output to the excitation positive (R1) of the motor through a pi-shaped filter circuit formed by the capacitor C136, the resistor R239 and the capacitor C126.
The resistor R135 and the resistor R136 are divided by the power supply 12V to provide reference voltage for the operational amplifier, and the capacitor C135 is a reference voltage filter capacitor;
the power +5v provides bias voltage for motor rotation output signals cos+ (S1), COS- (S3), sin+ (S2) and SIN- (S4) through resistor R202 and resistor R216 voltage division via resistor R137, resistor R192, resistor R234 and resistor R235. The motor rotation output signals COS+ (S1) and COS- (S3) are connected into a load resistor R121 after passing through a resistor R119 and a resistor R120, and the two paths of signals are input into a decoding chip AD2S1210 after being filtered by RC formed by a resistor R133, a capacitor C81, a resistor R201 and a capacitor C84; the motor rotation output signals SIN+ (S2) and SIN- (S4) are connected into a load resistor R122 after passing through a resistor R115 and a resistor R116, and the two paths of signals are input into a decoding chip AD2S1210 after being filtered by RC formed by a resistor R232, a capacitor C90, a resistor R236 and a capacitor C93;
the decoding chip AD2S1210 is connected to the main control chip through a resistor R140, a resistor R141, a resistor R142, a resistor R143, a resistor R145, a resistor R146, a resistor R147, a resistor R148, a resistor R149, a resistor R156, a resistor R158, a resistor R159, a resistor R160, and a resistor R163 to perform related data transmission, and in this circuit, a capacitor C89, a capacitor C92, a capacitor C94, a capacitor C95, a capacitor C96, a capacitor C97, a capacitor C140, and a capacitor C141 are power supply filtering capacitors of the decoding chip AD2S1210, and the resistor R150, the resistor R151, the resistor R153, the resistor R155, the crystal oscillator X2, the capacitor C137, and the capacitor C138 form an oscillating circuit to provide a reference frequency for the decoding chip AD2S 1210.
On this basis, for the sake of easy understanding, the following model definitions are made for the devices used in this embodiment, but the following are not to be construed as limiting, as long as the device model conforms to the functional definition thereof, specifically as follows:
the resistance of the resistor R241 is 10, the resistance of the resistor R242 is 100K, the resistor C127 is 105, the resistance of the resistor R127 is 10K, the resistor C83 is 120P, the resistance of the resistor R131 is 15K, the resistance of the resistor R221 is 100, the resistor D18 is BAVS9A7, the resistance of the resistor R125 and the resistance of the resistor R129 are 3.3, the triode N19 is ZXTN2010ZIA, the triode P9 is ZXTP2010ZIA, the resistance of the resistor R124 and the resistor R134 is 2.2K, the resistance of the resistor R126 and the resistor R128 is 10, the resistance of the resistor R211 and the resistor R233 is 20, the resistance of the capacitor C45 is 103, the resistance of the resistor R222 is 5.1, and the resistance of the resistor C91 is 102.
The resistance of the resistor R243 is 10, the resistance of the resistor R244 is 100K, the resistance of the capacitor C132 is 105, the resistance of the resistor R123 is 10K, the resistance of the capacitor C139 is 120P, the resistance of the resistor R130 is 15K, the resistance of the resistor R238 is 100, the resistor D19 is BAVS9A7, the resistance of the resistor R139 and the resistance of the resistor R144 are 3.3, the triode N21 is ZXTN2010ZIA, the resistance of the triode P10ZXTP2010ZIA, the resistance of the resistor R138 and the resistance of the resistor R157 are 2.2K, the resistance of the resistor R152 and the resistance of the resistor R154 are 10, the resistance of the resistor R237 and the resistance of the resistor R240 are 20, the capacitor C136 is 103, the resistance of the resistor R239 is 5.1, and the resistance of the resistor C126 is 102.
The resistance of the resistor R135 is 22k, the resistance of the resistor R136 is 10k, the capacitor C135 is 104, and the types of the amplifiers U11A and U11B are AD5662ARZ.
Wherein the resistances of the resistor R202 and the resistor R216 are 10k, the resistances of the resistor R137, the resistor R192, the resistor R234 and the resistor R235 are 100k, the resistances of the resistor R121 and the resistor R122 are 22k, the resistances of the resistor R119, the resistor R120, the resistor R133, the resistor R201, the resistor R115, the resistor R116, the resistor R232 and the resistor R236 are 1k, and the capacitances C81, C84, C90 and C93 are 471
The resistances of the resistor R140, the resistor R141, the resistor R142, the resistor R143, the resistor R145, the resistor R146, the resistor R147, the resistor R148, the resistor R149, the resistor R156, the resistor R158, the resistor R159, the resistor R160, and the resistor R163 are all 100, the capacitor C89, the capacitor C94, the capacitor C95, the capacitor C140, and the capacitor C106, the capacitor C92, the capacitor C96, the capacitor C97, and the capacitor C141 are 104, the resistances of the resistor R150, the resistor R151, the resistor R153, and the resistor R155 are 1k, the reference frequency of the crystal oscillator X2 is 8.192MHZ, and the capacitor C137 and the capacitor C138 are 22P.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown, it is well suited to various fields of use for which the invention is suited, and further modifications may be readily made by one skilled in the art, and the invention is therefore not to be limited to the particular details and examples shown and described herein, without departing from the general concepts defined by the claims and the equivalents thereof.
Claims (7)
1. The control method for solving the abnormality of the position sensor is characterized by comprising the following steps:
s1, monitoring whether the position angle signal acquired by the position sensor is abnormal in real time, if yes, executing a step S2, otherwise, executing a step S3;
s2, switching to a position-free control mode, and controlling a motor by using a position-free angle signal obtained by calculating the position-free control mode;
s3, motor control is carried out by adopting the position angle signals acquired by the position sensor;
judging whether the current vehicle is in a high-speed running mode, if so, performing motor control on a position-free angle signal obtained by calculating the position-free control mode and a compensated angle signal obtained after position compensation is performed on the position-free angle signal acquired by the position sensor, otherwise, performing motor control by adopting the position-free angle signal acquired by the position sensor;
the judging whether the current vehicle is in the high-speed driving mode specifically comprises the following steps: judging whether the motor rotating speed of the current vehicle reaches a preset threshold value, if so, enabling the current vehicle to be in a high-speed running mode, otherwise, enabling the current vehicle not to be in the high-speed running mode;
the position-free angle signal calculated by the position-free control mode is specifically:
according to the deviation between the instruction rotating speed and the actual rotating speed, the instruction current is obtained through PI adjustment;
obtaining a D-axis voltage through PI regulation according to the deviation of the command current and the acquisition current of the D-axis, obtaining a Q-axis voltage through PI regulation according to the deviation of the command current and the acquisition current of the Q-axis, and mathematically transforming the D-axis voltage and the Q-axis voltage into U, V, W three-phase voltages applied to a motor;
detecting the current of the motor through a current transformer, then mathematically transforming the current into IdSS and IqSS, and mathematically transforming the IdSS and IqSS into the acquisition current of the D axis and the acquisition current of the Q axis of the motor according to the angle difference;
according to motor parameters, D-axis voltage, acquisition current of the D-axis and acquisition current of the Q-axis, calculating an angle difference between an actual motor angle and an applied control angle, and adjusting the speed to achieve that the estimated applied control angle is consistent with the actual motor angle, wherein the angle difference delta theta is expressed as follows:
wherein V is dc Is the D-axis voltage, I dc And I d All are D-axis current, I qc Is Q axis current, r is motor impedance, K c Is the back electromotive force of the motor, L d Is the D-axis inductance of the motor, L q Is the Q-axis inductance of the motor and ω is the angular velocity of the motor.
2. The control method for solving the anomaly of the position sensor according to claim 1, wherein the step S2 further comprises: and sending out a position abnormality alarm signal for prompting.
3. A control system for solving the abnormality of a position sensor, applied to the control method for solving the abnormality of a position sensor as defined in any one of claims 1 to 2, characterized in that: the digital signal processing circuit comprises a rotary decoding circuit, wherein the rotary decoding circuit comprises a rotary digital converter, two paths of signal amplifying circuits and two paths of push-pull circuits;
the sine wave excitation negative signal and the sine wave excitation positive signal of the rotary digital converter are respectively and electrically connected with one input end of one signal amplifying circuit, the output end of each signal amplifying circuit is electrically connected with one input end of one push-pull circuit, and the output end of each push-pull circuit is electrically connected with one excitation end of the motor.
4. A control system for resolving position sensor anomalies as set forth in claim 3, wherein: the other input end of each path of signal amplifying circuit is connected with a bias voltage circuit.
5. A control system for resolving position sensor anomalies as set forth in claim 3, wherein: the sine positive end, the sine negative end, the cosine positive end and the cosine negative end of the rotary digital converter are respectively output to four corresponding motor rotary output signal ends after passing through an RC filter circuit and a load resistor.
6. A control system for resolving a position sensor anomaly as recited in claim 5, wherein: the motor rotation output signal is also electrically connected with a bias voltage circuit.
7. A control system for resolving position sensor anomalies as set forth in claim 3, wherein:
the rotary digital converter further comprises a power supply filter capacitor, an oscillating circuit and a peripheral connecting circuit;
the rotary digital converter is electrically connected with the main control chip through a peripheral connection circuit, and the oscillation circuit provides reference frequency for the rotary digital converter.
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