CN116539080A - Permanent magnet brushless motor Hall sensor fault diagnosis method based on high-frequency detection - Google Patents
Permanent magnet brushless motor Hall sensor fault diagnosis method based on high-frequency detection Download PDFInfo
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Abstract
The invention discloses a fault diagnosis method for a Hall sensor of a permanent magnet brushless motor based on high-frequency detection, and belongs to the technical field of fault detection of an antenna servo driving system. In the invention, a jump edge signal and a Hall state signal are introduced in the running process of a permanent magnet brushless motor of an antenna servo driving system, the Hall state signal is detected at high frequency by using the timing interruption in a control chip, and meanwhile, the logic and time sequence type of the motor Hall signal are judged. By the mode, when a certain Hall sensor of the permanent magnet brushless motor in the antenna servo driving system fails, the control system can detect and identify the failure sensor in the shortest time after the failure occurs and feed back corresponding failure information, so that the operation safety of the antenna servo driving system is ensured.
Description
Technical Field
The invention relates to the field of antenna servo driving, in particular to a Hall sensor fault diagnosis method of a permanent magnet brushless motor in antenna servo driving.
Background
In an antenna servo driving system, a driving motor usually adopts a permanent magnet brushless motor with rectangular wave driving current, and the motor has the advantages of high energy density, simple system structure and the like. In the operation process of the permanent magnet brushless motor driving system, the control system must acquire the position information of the motor rotor in real time through the position sensor, and apply a corresponding driving voltage vector. The hall sensor is used as a rotor position sensor most commonly used in a permanent magnet brushless motor, plays a very important role in a motor servo driving system, and once the hall sensor fails, the performance of the motor can be rapidly reduced and even tends to be in a runaway state.
Currently, there are some fault diagnosis methods related to hall sensors of permanent magnet brushless motors in the prior art, and these methods are mostly based on a precondition: when a certain Hall sensor fails, the motor still can keep the running state before the failure until the motor continues to rotate to a specific position, and abnormal Hall signals or signal sequences can be detected. However, according to the control principle of the permanent magnet brushless motor, the position information of the rotor in the running process of the motor needs to be fed back to the control system in real time and used as a reference signal for selecting the driving voltage vector by the control system. In case of failure of one Hall sensor, the rotor position information contained in the Hall sensor is invalid, and the rotor position signal fed back to the control system by the sensor is not reliable any more. At this time, if the hall sensor malfunction is not detected and identified, the control system still applies the driving voltage according to the erroneous rotor position information fed back by the malfunction sensor.
In the antenna servo driving system, a driving motor drives an antenna to rotate through a multi-stage gear reduction mechanism, so that the moment of inertia of the motor at a load end is small, the load moment is very large, the motor also frequently operates in a small-angle inching state, and the running inertia of the driving motor is very small. At this time, under the action of the wrong driving voltage vector, the motor is not necessarily capable of maintaining the running state before the fault, and the protection of system hardware caused by overcurrent may occur, and even the whole antenna servo driving system may be damaged when serious. If it is desired to avoid such a situation, it is necessary to detect and identify a fault in a minimum time after the fault occurs in a certain hall sensor, and cut off the driving signal of the motor, so as to ensure the operation safety of the antenna servo driving system.
Disclosure of Invention
Aiming at the problems in the antenna servo driving system, the invention provides a fault diagnosis method for a Hall sensor of a permanent magnet brushless motor based on high-frequency detection. The method fully considers the working characteristics of the permanent magnet brushless motor in the antenna servo driving system in practical engineering application, can rapidly detect and identify corresponding faults after a certain Hall sensor fails, and improves the safety performance of the antenna servo driving system in operation.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the fault diagnosis method of the Hall sensor of the permanent magnet brushless motor based on high-frequency detection comprises the steps that the rotating area of a motor rotor is divided into 6 sectors by 3 Hall sensors of the permanent magnet brushless motor evenly; the method comprises the following steps:
the first step: generating a jump edge signal and a Hall state signal by using a Hall signal of a motor driving system, and recording a historical commutation period;
and a second step of: predicting the value of the next Hall state signal according to the current Hall state signal, predicting the time sequence range of the next Hall state signal according to the historical commutation period, and taking the predicted next Hall state signal as a reference Hall state signal in the fault diagnosis process;
and a third step of: in the main timing interruption of the motor control chip, high-frequency sampling is carried out on the Hall signal, the actual Hall state signal obtained by sampling is compared with the reference Hall state signal after each sampling is completed, if the values and the time sequences of the actual Hall state signal and the reference Hall state signal are identical, no Hall sensor fault exists in the secondary commutation period, and the second step and the third step are repeated; otherwise, the Hall sensor fails in the phase change period, and the fourth step is switched to perform fault judgment;
fourth step: compared with the reference Hall state signal, if the value of the actual Hall state signal is abnormal, judging that the Hall sensor with the jump edge signal fails; if the occurrence time sequence of the actual Hall state signal is advanced, judging that the Hall sensor with the jump edge signal fails; if a new Hall state signal is not detected until the end of the time sequence range of the reference Hall state signal, judging that the Hall sensor with the jump edge signal fails.
Further, the transition edge signal is defined as follows:
when a Hall signal of a certain Hall sensor jumps from a high level '1' to a low level '0', the jump edge signal is-1; when a Hall signal of a certain Hall sensor jumps from low level 0 to high level 1, the jump edge signal is 1; when the Hall signal of a certain Hall sensor keeps high level '1' or low level '0' unchanged, the jump edge signal is 0;
the Hall state signal consists of a jump edge signal which is not 0 and two other Hall signals which are kept unchanged.
Further, in the second step, the time sequence range of the next hall state signal is predicted according to the historical commutation period, and the specific mode is as follows:
taking the motor rotating speed in one commutation period as a fixed value, and calculating the motor rotating speed in the commutation period according to the historical commutation period and the angle of one sector;
predicting the motor rotation speed in the next commutation period by adopting a second-order interpolation prediction method;
according to the predicted value of the motor rotation speed and the angle of one sector, calculating the occurrence time of the next commutation, namely the generation time of the next Hall state signal, and taking the neighborhood of the time as the time sequence range of the next Hall state signal.
Further, the model of the motor control chip is TMS320F28335.
The beneficial effects of the invention are as follows:
firstly, the jump edge signal and the Hall state signal are introduced, so that the number of signals required to be detected and compared in the fault diagnosis process is greatly reduced.
Secondly, the designed method can detect and identify the corresponding faults in the shortest time after the faults occur, effectively improve the fault detection speed and reduce the damage risk of the servo drive system.
Thirdly, from the engineering point of view, the designed fault diagnosis algorithm can be realized by adding part of codes in the motor control chip, and the method is low in cost and easy to realize without additionally adding a hardware detection circuit.
Drawings
Fig. 1 is a schematic diagram of a permanent magnet brushless motor drive system and hall signals during one electrical cycle thereof.
Fig. 2 is a schematic diagram of hall state signals when the motor rotates in the forward direction under all normal conditions of the hall sensor.
Fig. 3 is a schematic diagram of the signal condition when the hall sensor fails when the motor rotor is in different sectors.
Fig. 4 is a schematic diagram of motor speed discretization.
Fig. 5 is a schematic diagram of high frequency sampling of motor hall signals.
Fig. 6 is a schematic diagram of a fault diagnosis situation.
Fig. 7 is a flowchart of a fault diagnosis method.
Detailed Description
The invention is further described below in connection with the figures and the corresponding embodiments.
A Hall sensor fault detection and identification method of a permanent magnet brushless motor based on high-frequency detection comprises the following specific steps:
the first step: and preprocessing signals before fault detection of the Hall sensor. As can be seen from fig. 1, the 3 hall sensors a, b and c of the motor divide the rotation area of the motor rotor into 6 sectors, each of which is pi/3 electrical angle. Normally, when a motor rotor enters an adjacent sector from a certain sector, the corresponding hall signal also jumps, and the method defines the jump Edge (Edge) signal. By H a Hall signal E representing hall sensor a a A trip edge signal representative of hall sensor a,then when H a When the high level 1 jumps to the low level 0, the jump edge signal E a -1; when H is a When the transition from the low level '0' to the high level '1', the transition edge signal E a =1; when H is a The transition edge signal E is maintained at the high level ' 1 ' or the low level ' 0 a ＝0。
According to the definition, each time the motor rotor enters a new sector, 1 corresponding Hall sensor generates jump edge signals, and the Hall signals of the other 2 Hall sensors are unchanged. The method defines the non-zero jump edge signal and the other two paths of Hall signals corresponding to the jump edge signal as Hall state signals. When all the motor hall sensors are normal, the hall state signals when the motor rotates in the forward direction (anticlockwise direction) are shown in fig. 2 (the running directions of the motors analyzed by the invention are all forward rotation).
When the Hall sensor fails, the change condition of the Hall state signal of the motor is different according to the difference of the sectors where the rotor is positioned. Taking sensor a as an example, as shown in fig. 3, faults can be classified into 3 types:
1. when a fault occurs, an abnormal Hall state occurs, such as a sensor A fails when the rotor is in a 5 pi/6-7 pi/6 sector, an abnormal Hall state signal E occurs a ＝1，H b ＝1，H c ＝1；
2. In the event of failure, there is a Hall state signal, e.g. sensor A fails when the rotor is in the 7 pi/6-3 pi/2 sector a ＝1，H b ＝0，H c =1 occurs earlier than normal;
3. when a fault occurs, no Hall state signal occurs, and a time sequence or value abnormality can occur after the fault occurs for a period of time, for example, the sensor A fails in a sector of 3 pi/2-11 pi/6 of the rotor.
During operation of the motor, the motor speed between the two hall state signals (i.e., commutation points) is the speed at which it can be measured on a minimum scale. Therefore, the invention discretizes the rotation speed of the motor, namely considers the rotation speed of the motor between two adjacent Hall state signals to be a fixed value, as shown in figure 4.
And a second step of: and constructing a reference signal in the fault detection process of the Hall sensor. Taking the Hall signal timing shown in FIG. 5 as an example, assume that at t n Before the moment, all the 3 Hall sensors a, b and c are normal; and t is n After the moment, a certain Hall sensor fails, and the failure sensor and the failure time are unknown. T is known to be n The Hall state signal detected at the moment is E b ＝1，H a ＝1，H c =0, and the value and time sequence result of the next hall state signal need to be predicted according to the discrete rotation speed information of the motor and the hall state signal. As can be seen from FIG. 2, the next Hall state signal of the system has a value of E a ＝-1，H b ＝1，H c =0. At this time, the occurrence time of the subsequent hall state signal needs to be predicted and estimated by combining the discrete rotation speed information of the motor in fig. 4, and a corresponding prediction signal is constructed.
Taking t n The duration of each commutation period before the moment is as follows:
the motor speed in each commutation period described above can be expressed as:
according to a second-order interpolation algorithm, the motor rotation speed in the subsequent commutation period can be predicted, and the following steps are taken:
then can be used for the omega n+1 Estimating the estimated valueCan representThe following are provided:
finally, the ideal Hall state signal E a ＝-1，H b ＝1，H c Time of occurrence t=0 n+1 Estimate of (2)Represented as
And according to the value of the predicted signal and the time sequence estimated value, the predicted Hall state signals of the Hall sensors a, b and c in the next commutation period can be constructed and used as reference signals in fault detection.
And a third step of: through high-frequency sampling, the real-time monitoring of the working state of the Hall sensor is realized. In the timing interruption of the motor control chip, the Hall signal of the motor is sampled at high frequency, and the actual Hall state signal and the predicted Hall state signal are compared with the time sequence range after each sampling is completed. If the comparison of the values of the two values and the time sequence range is not abnormal, no Hall sensor fault exists in the sub-sampling period, the related data are updated, and the cycle judgment of the next sampling period is carried out; otherwise, go to the fourth step.
In the time sequence comparison of the hall state signals, the estimated value and the actual value cannot be completely consistent even under the condition that the hall sensors are all normal due to the influence of estimation errors and detection accuracy. Thus, an error threshold t is set thr For calculating a failure determination threshold time t min 、t max And a failure determination threshold coefficient k min 、k max The following is shown:
wherein t is s For the high-frequency sampling period of timing interruption in the motor control chip, the error threshold t thr The motor driving system can be adjusted according to different dynamic running speeds and load types of the motor driving system.
Fourth step: and the identification of the fault Hall sensor is completed through signal analysis. The actual hall state signal values or timings may be compared to the reference hall state signal in several cases as shown in fig. 6:
1) The Hall state signal is newly detected, and compared with the reference signal, the signal has no abnormality in value and time sequence range, and at the moment, no Hall sensor is judged to have faults in the current commutation period;
2) The Hall state signal is newly detected, the value of the signal is different from that of the reference signal, and at the moment, the Hall sensor with the jump edge signal can be judged to have faults;
3) The Hall state signal is newly detected, the occurrence time sequence of the signal is earlier than the time sequence range of the reference signal, and at the moment, the occurrence of faults of the Hall sensor with the jump edge signal can be judged;
4) And if the new Hall state signal is not detected until the time sequence range of the reference signal is ended, judging that the Hall sensor with the jump edge signal fails.
Meanwhile, the signal construction process is updated at the end of each commutation period, so that real-time monitoring of the Hall state signal value and the time sequence range in each commutation period can be realized, and the whole working flow of the method is shown in figure 7.
In a word, the jump edge signal and the Hall state signal are introduced in the running process of the permanent magnet brushless motor of the antenna servo driving system, the Hall state signal is detected at high frequency by using the timing interruption in the control chip, and meanwhile, the logic and time sequence type of the motor Hall signal are judged. By the mode, when a certain Hall sensor of the permanent magnet brushless motor in the antenna servo driving system fails, the control system can detect and identify the failure sensor in the shortest time after the failure occurs and feed back corresponding failure information, so that the operation safety of the antenna servo driving system is ensured.
Claims (4)
1. The fault diagnosis method of the Hall sensor of the permanent magnet brushless motor based on high-frequency detection comprises the steps that the rotating area of a motor rotor is divided into 6 sectors by 3 Hall sensors of the permanent magnet brushless motor evenly; the method is characterized by comprising the following steps of:
the first step: generating a jump edge signal and a Hall state signal by using a Hall signal of a motor driving system, and recording a historical commutation period;
and a second step of: predicting the value of the next Hall state signal according to the current Hall state signal, predicting the time sequence range of the next Hall state signal according to the historical commutation period, and taking the predicted next Hall state signal as a reference Hall state signal in the fault diagnosis process;
and a third step of: in the main timing interruption of the motor control chip, high-frequency sampling is carried out on the Hall signal, the actual Hall state signal obtained by sampling is compared with the reference Hall state signal after each sampling is completed, if the values and the time sequences of the actual Hall state signal and the reference Hall state signal are identical, no Hall sensor fault exists in the secondary commutation period, and the second step and the third step are repeated; otherwise, the Hall sensor fails in the phase change period, and the fourth step is switched to perform fault judgment;
fourth step: compared with the reference Hall state signal, if the value of the actual Hall state signal is abnormal, judging that the Hall sensor with the jump edge signal fails; if the occurrence time sequence of the actual Hall state signal is advanced, judging that the Hall sensor with the jump edge signal fails; if a new Hall state signal is not detected until the end of the time sequence range of the reference Hall state signal, judging that the Hall sensor with the jump edge signal fails.
2. The high frequency detection-based fault diagnosis method for the hall sensor of the permanent magnet brushless motor according to claim 1, wherein the jump edge signal is defined as follows:
when a Hall signal of a certain Hall sensor jumps from a high level '1' to a low level '0', the jump edge signal is-1; when a Hall signal of a certain Hall sensor jumps from low level 0 to high level 1, the jump edge signal is 1; when the Hall signal of a certain Hall sensor keeps high level '1' or low level '0' unchanged, the jump edge signal is 0;
the Hall state signal consists of a jump edge signal which is not 0 and two other Hall signals which are kept unchanged.
3. The fault diagnosis method for the hall sensor of the permanent magnet brushless motor based on high frequency detection according to claim 1, wherein in the second step, the time sequence range of the next hall state signal is predicted according to the historical commutation period, specifically, the method comprises the following steps:
taking the motor rotating speed in one commutation period as a fixed value, and calculating the motor rotating speed in the commutation period according to the historical commutation period and the angle of one sector;
predicting the motor rotation speed in the next commutation period by adopting a second-order interpolation prediction method;
according to the predicted value of the motor rotation speed and the angle of one sector, calculating the occurrence time of the next commutation, namely the generation time of the next Hall state signal, and taking the neighborhood of the time as the time sequence range of the next Hall state signal.
4. The high-frequency detection-based permanent magnet brushless motor hall sensor fault diagnosis method according to claim 1, wherein the model of the motor control chip is TMS320F28335.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116979850A (en) * | 2023-09-25 | 2023-10-31 | 苏州利氪科技有限公司 | Motor rotation control method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116979850A (en) * | 2023-09-25 | 2023-10-31 | 苏州利氪科技有限公司 | Motor rotation control method and device |
| CN116979850B (en) * | 2023-09-25 | 2023-11-28 | 苏州利氪科技有限公司 | Motor rotation control method and device |
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