CN115378401A - Filtering method for Hall position sensor deviation signal of robot joint - Google Patents
Filtering method for Hall position sensor deviation signal of robot joint Download PDFInfo
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- CN115378401A CN115378401A CN202211180677.9A CN202211180677A CN115378401A CN 115378401 A CN115378401 A CN 115378401A CN 202211180677 A CN202211180677 A CN 202211180677A CN 115378401 A CN115378401 A CN 115378401A
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H17/00—Networks using digital techniques
- H03H17/02—Frequency selective networks
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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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Abstract
The invention discloses a filtering method of a Hall position sensor deviation signal aiming at a robot joint, which comprises the following steps: acquiring the duration of each Hall state when the motor runs; calculating the current Hall average duration, the previous Hall average duration and the next previous Hall average duration according to the duration of each Hall state; judging the running state of the motor according to the rotating speed; if the motor is in an acceleration and deceleration state, calculating the ideal duration of the current Hall state by combining a three-step filter and a linear extrapolation filtering method; and if the motor is in a stable-speed running state, calculating the ideal duration of the current Hall state by combining six-step filtering and a linear extrapolation filtering method. The embodiment of the invention provides two filters aiming at different running states of the motor to achieve the optimal filtering effect, and the filtering mode provided by the embodiment of the invention avoids the condition that the estimated position of the rotor is deviated due to deviation of an absolute position.
Description
Technical Field
The invention relates to the technical field of servo motors, in particular to a filtering method for a Hall position sensor deviation signal of a robot joint.
Background
The permanent magnet synchronous motor adopts the permanent magnet as excitation, greatly reduces the volume and the mass of the motor, and has good application space on an industrial robot.
The Hall sensor is used as a position sensor for vector control of the synchronous motor, and the traditional method is to estimate the position of the rotor by current sector time and six absolute positions when the position of the Hall sensor is estimated, if the Hall position deviates, the absolute position is deviated, so that the estimated position of the rotor deviates.
Therefore, how to correct the position of the hall sector, so as to avoid the deviation of the estimated position of the rotor caused by the position deviation of the hall sensor, becomes a problem to be solved urgently at present.
Disclosure of Invention
In view of this, an embodiment of the present invention provides a method for filtering a hall position sensor offset signal of a robot joint, so as to solve a problem in the prior art that when a hall position sensor is offset, an absolute position is often offset, so that an estimated position of a rotor is offset.
The embodiment of the invention provides a filtering method for a Hall position sensor deviation signal of a robot joint, which comprises the following steps:
acquiring the duration of each Hall state when the motor runs;
calculating the current Hall average duration, the previous Hall average duration and the next previous Hall average duration according to the duration of each Hall state;
judging the running state of the motor according to the rotating speed;
if the motor is in an acceleration and deceleration state, calculating the ideal duration of the current Hall state by combining a three-step filter and a linear extrapolation filtering method;
if the motor is in a stable-speed running state, calculating the ideal duration of the current Hall state by combining six-step filtering and a linear extrapolation filtering method.
Optionally, the setting of the three-step filter is:
the setting of the six-step filter is as follows:
wherein, b m Is the filter coefficient; m is the order.
Optionally, obtaining the duration of each hall state while the motor is running comprises:
acquiring the duration of a first Hall state, the duration of a second Hall state, the duration of a third Hall state and the duration of a fourth Hall state;
the duration tau (n-3) of the first Hall state represents the duration of triggering a rising edge of the A-phase Hall sensor and triggering a falling edge of the C-phase Hall sensor; the duration tau (n-2) of the second Hall state represents the duration when the C-phase Hall sensor triggers a falling edge and the B-phase Hall sensor triggers a rising edge; the duration tau (n-1) of the third Hall state represents the duration of triggering the rising edge of the B-phase Hall sensor and triggering the falling edge of the A-phase Hall sensor; the duration tau (n) of the fourth hall state represents the duration of the rising edge triggered by the a-phase hall sensor and the falling edge triggered by the C-phase hall sensor.
Optionally, the extrapolation filtering method includes:
and acquiring a linear extrapolation result of the duration time of the current Hall state according to the difference between twice the duration time of the previous Hall state and the duration time of the previous Hall state:
τ ex_l ＝2τ(k-1)-τ(k-2)
wherein, tau ex_l Linear extrapolation is performed based on the two-step history; k is a natural number.
Optionally, calculating a current hall average duration, a previous hall average duration, and a next previous hall average duration according to the duration of each hall state includes:
calculating the current hall average duration:
τ ex_l (i)＝2τ(i-1)-τ(i-2)
calculating the previous Hall average duration:
τ ex_l (i-1)＝2τ(i-2)-τ(i-3)
calculate the hall average duration again for the previous time:
τ ex_l (i-2)＝2τ(i-3)-τ(i-4)
wherein i is a natural number.
Optionally, calculating the ideal duration of the current hall state by a three-step filter in combination with a linear extrapolation filtering method comprises:
wherein t is a natural number.
Optionally, after determining that the running state of the motor is a steady running state according to the rotation speed, the method further includes:
acquiring the duration of the Hall state of the first seven times;
calculating the ideal duration of the current Hall state by combining a six-step filter and a linear extrapolation filtering method, wherein the method comprises the following steps of:
wherein t is a natural number.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a filtering method for a Hall position sensor deviation signal of a robot joint, and provides two filters for achieving the optimal filtering effect aiming at different running states of a motor.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are schematic and are not to be understood as limiting the invention in any way, and in which:
fig. 1 shows a flow chart of a method for filtering a hall position sensor offset signal for a robot joint in an embodiment of the invention;
FIG. 2 illustrates a waveform of the duration of each Hall state when the motor is running in an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a method for calculating the duration of the current ideal hall state according to an embodiment of the present 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 embodiment of the invention provides a filtering method for a Hall position sensor deviation signal of a robot joint, which comprises the following steps of:
and step S10, acquiring the duration of each Hall state when the motor runs.
In order to facilitate analysis, the Hall sensor is arranged to output a logic signal (0 or 1) with an electrical angle of 180 degrees; wherein "0" is low; "1" is high.
And step S20, calculating the current Hall average duration, the previous Hall average duration and the next previous Hall average duration according to the duration of each Hall state.
In this embodiment, the duration of the first hall state, the duration of the second hall state, the duration of the third hall state, and the duration of the fourth hall state are obtained; the duration tau (n-3) of the first Hall state represents the duration of triggering a rising edge of the A-phase Hall sensor and triggering a falling edge of the C-phase Hall sensor; the duration tau (n-2) of the second Hall state represents the duration when the C-phase Hall sensor triggers a falling edge and the B-phase Hall sensor triggers a rising edge; the duration tau (n-1) of the third Hall state represents the duration of triggering the rising edge of the B-phase Hall sensor and triggering the falling edge of the A-phase Hall sensor; the duration tau (n) of the fourth hall state represents the duration of the rising edge triggered by the a-phase hall sensor and the falling edge triggered by the C-phase hall sensor.
The rising edge of duration τ (n-3) and the falling edge of duration τ (n-1) correspond to the switching of the same phase sensor (here, the a-phase hall sensor).
And step S30, judging the running state of the motor according to the rotating speed.
If the motor is in the acceleration and deceleration state, step S401 is executed, and the ideal duration of the current hall state is calculated by combining the three-step filter and the linear extrapolation filtering method.
If the motor is in a steady-speed running state, step S402 is executed to calculate the ideal duration of the current hall state by six-step filtering in combination with a linear extrapolation filter.
In this embodiment, an embodiment of the present invention provides a method for filtering a hall position sensor offset signal of a robot joint, and two filters are provided for different operation states of a motor to achieve an optimal filtering effect. In addition, the average filtering method provided by the embodiment of the invention is used for adjusting the Hall state duration to correct the position of the Hall sector, so that the condition that the estimated position of the rotor is deviated due to deviation of an absolute position is avoided.
As an optional implementation, the three-step filter is set as:
the setting of the six-step filter is as follows:
wherein, b m Is the filter coefficient; m is the order.
As an optional embodiment, obtaining the duration of each hall state while the motor is running includes:
as an alternative embodiment, the extrapolation filtering method includes:
and obtaining a linear extrapolation result of the duration time of the current Hall state according to the difference between twice the duration time of the previous Hall state and the duration time of the previous Hall state:
τ ex_l ＝2τ(k-1)-τ(k-2)
wherein, tau ex_l Linear extrapolation is performed based on the two-step history; k is a natural number.
In this embodiment, the linear extrapolation of the current hall state duration is calculated from the historical values of the previous two hall state times to better account for acceleration and deceleration of the motor.
As an alternative embodiment, calculating the current hall average duration, the previous hall average duration, and the next previous hall average duration according to the duration of each hall state includes:
calculating the current hall average duration:
τ ex_l (i)＝2τ(i-1)-τ(i-2)
calculating the previous Hall average duration:
τ ex_l (i-1)＝2τ(i-2)-τ(i-3)
calculate the hall average duration again for the previous time:
τ ex_l (i-2)＝2τ(i-3)-τ(i-4)
wherein i is a natural number.
As an alternative embodiment, the ideal duration of the current Hall state is calculated by a three-step filter combined with a linear extrapolation filtering method, which comprises the following steps:
wherein t is a natural number.
As an optional implementation manner, after determining that the operation state of the motor is the steady-speed operation state according to the rotation speed, the method further includes:
acquiring the duration of the Hall state of the first seven times;
calculating the ideal duration of the current Hall state by combining a six-step filter and a linear extrapolation filtering method, wherein the method comprises the following steps of:
wherein t is a natural number.
In a specific embodiment, values of Hall durations τ (n-1), τ (n-2), τ (n-3), τ (n-4) are obtained:
τ(n-1)＝0.9ms
τ(n-2)＝0.8ms
τ(n-3)＝1.1ms
τ(n-4)＝0.8ms
current hall average duration:
τ ex_l (n)＝2τ(n-1)-τ(n-2)＝2*0.9-0.8＝1ms
previous hall average duration:
τ ex_l (n-1)＝2τ(n-2)-τ(n-3)＝2*0.8-1.1＝0.5ms
again previous hall average duration:
τ ex_l (n-2)＝2τ(n-3)-τ(n-4)＝2*1.1-0.8＝1.4ms
when the motor rotating speed is obtained and the motor is judged to be in an unstable running state, calculating the duration time of an ideal Hall state by using a three-step filtering combined linear extrapolation filtering method:
the three-step filter is as follows:
when the motor rotating speed is obtained and the motor is judged to be in a stable running state, values of tau (n-5), tau (n-6) and tau (n-7) are obtained:
τ(n-5)＝1ms
τ(n-6)＝0.9ms
τ(n-7)＝1.2ms
the previous hall average duration at the next previous hall average duration is:
τ ex_l (n-3)＝2τ(n-4)-τ(n-5)＝2*0.8-1＝0.6ms
the next previous hall average duration at the next previous hall average duration is:
τ ex_l (n-4)＝2τ(n-5)-τ(n-6)＝2*1-0.9＝1.1ms
the one more previous hall average duration at the one more previous hall average duration is:
τ ex_l (n-5)＝2τ(n-6)-τ(n-7)＝2*0.9-1.2＝0.6ms
the ideal hall state duration is calculated using six-step filtering in combination with linear extrapolation filtering:
the six-step filter is as follows:
in view of the above, the embodiment of the invention provides a filtering method for a hall position sensor deviation signal of a robot joint, and two filters are provided for different running states of a motor to achieve the optimal filtering effect.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (7)
1. A method for filtering a Hall position sensor deviation signal for a robot joint, comprising:
acquiring the duration of each Hall state when the motor runs;
calculating the current Hall average duration, the previous Hall average duration and the next previous Hall average duration according to the duration of each Hall state;
judging the running state of the motor according to the rotating speed;
if the motor is in an acceleration and deceleration state, calculating the ideal duration of the current Hall state by combining a three-step filter and a linear extrapolation filtering method;
and if the motor is in a stable-speed running state, calculating the ideal duration of the current Hall state by combining six-step filtering and a linear extrapolation filtering method.
2. The method of filtering a hall position sensor offset signal for a robot joint of claim 1, wherein the three-step filter is configured to:
the six-step filter is set as follows:
wherein, b m Is the filter coefficient; m is the order.
3. The method of filtering a hall position sensor offset signal for a robot joint of claim 2 wherein obtaining the duration of each hall state while the motor is running comprises:
acquiring the duration of a first Hall state, the duration of a second Hall state, the duration of a third Hall state and the duration of a fourth Hall state;
the duration tau (n-3) of the first Hall state represents the duration of triggering a rising edge of the A-phase Hall sensor and triggering a falling edge of the C-phase Hall sensor; the duration tau (n-2) of the second Hall state represents the duration of triggering of a falling edge of the C-phase Hall sensor and triggering of a rising edge of the B-phase Hall sensor; the duration tau (n-1) of the third Hall state represents the duration of the triggering rising edge of the B-phase Hall sensor and the duration of the triggering falling edge of the A-phase Hall sensor; the duration tau (n) of the fourth Hall state represents the duration of the triggering falling edge of the A-phase Hall sensor and the duration of the triggering rising edge of the C-phase Hall sensor.
4. The method of filtering a hall position sensor offset signal for a robot joint of claim 3, wherein the extrapolation filtering comprises:
and acquiring a linear extrapolation result of the duration time of the current Hall state according to the difference between twice the duration time of the previous Hall state and the duration time of the previous Hall state:
τ ex_l ＝2τ(k-1)-τ(k-2)
wherein, tau ex_l Linear extrapolation is performed based on the two-step history; k is a natural number.
5. The method of filtering hall position sensor offset signals for a robot joint of claim 4 wherein calculating a current hall average duration, a previous hall average duration and a further previous hall average duration from the duration of each of the hall states comprises:
calculating the current hall average duration:
τ ex_l (i)＝2τ(i-1)-τ(i-2)
calculating the previous Hall average duration:
τ ex_l (i-1)＝2τ(i-2)-τ(i-3)
calculate the hall average duration again for the previous time:
τ ex_l (i-2)＝2τ(i-3)-τ(i-4)
wherein i is a natural number.
6. The method for filtering hall position sensor offset signals for a robot joint of claim 5 wherein calculating the ideal duration of the current hall state by a three-step filter in combination with linear extrapolation filtering comprises:
wherein t is a natural number.
7. The method for filtering the Hall position sensor deviation signal for the robot joint according to claim 5, wherein after determining that the operation state of the motor is a steady speed operation state according to the rotation speed, the method further comprises:
acquiring the duration of the Hall state of the first seven times;
calculating the ideal duration of the current Hall state by combining a six-step filter and a linear extrapolation filtering method, wherein the method comprises the following steps of:
wherein t is a natural number.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211180677.9A CN115378401A (en) | 2022-09-27 | 2022-09-27 | Filtering method for Hall position sensor deviation signal of robot joint |
| PCT/CN2022/122971 WO2024065568A1 (en) | 2022-09-27 | 2022-09-30 | Method for filtering deviation signal of hall position sensor for robot joint |
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| CN202211180677.9A CN115378401A (en) | 2022-09-27 | 2022-09-27 | Filtering method for Hall position sensor deviation signal of robot joint |
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| CN115378401A true CN115378401A (en) | 2022-11-22 |
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| CN202211180677.9A Pending CN115378401A (en) | 2022-09-27 | 2022-09-27 | Filtering method for Hall position sensor deviation signal of robot joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8508218B2 (en) * | 2011-05-11 | 2013-08-13 | Sensima Technology Sa | Hall-effect-based angular orientation sensor and corresponding method |
| US10044302B2 (en) * | 2017-01-06 | 2018-08-07 | Honeywell International Inc. | Methods and apparatus for multi-mode motor speed calculation using digital hall effect sensors |
| KR102588927B1 (en) * | 2017-12-07 | 2023-10-16 | 현대자동차주식회사 | Motor control method |
| CN108847792A (en) * | 2018-07-20 | 2018-11-20 | 张懿 | A kind of method of hall position sensor estimation rotor-position |
| CN111049456B (en) * | 2020-01-06 | 2022-01-21 | 天宝精密科技(惠州市)有限公司 | Hall sensor installation deviation identification and compensation method and device |
| CN111146980B (en) * | 2020-01-06 | 2023-08-25 | 江苏科技大学 | Deviation recognition and compensation method for hall sensor in different installation modes |
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