CN117811462A - Fault diagnosis and tolerance method for Hall position sensor of switch reluctance motor - Google Patents
Fault diagnosis and tolerance method for Hall position sensor of switch reluctance motor Download PDFInfo
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Abstract
The invention relates to a fault diagnosis and fault tolerance method for a Hall position sensor of a switch reluctance motor, belonging to the technical field of fault diagnosis and fault tolerance of a switch reluctance motor control system. Aiming at the problems that the output signal is abnormal after the position sensor is in fault, so that the output torque of a motor is reduced, and even the motor stops running when the output torque is severe, the position sensor fault diagnosis and fault tolerance method based on the jump edge combined time hybrid prediction is provided. The method adopts a mode of carrying out mixed prediction on the jump edge change sequence and the occurrence time, so that the fault position sensor and the fault type can be determined at the moment of the fault of the position sensor, and fault tolerance control can be carried out on the fault sensor after the fault diagnosis is finished. The method fully utilizes the jump edge information of the Hall signal, thereby achieving the effects of rapid and accurate fault diagnosis and fault tolerance.
Description
Technical Field
The invention relates to a fault diagnosis and fault tolerance method for a Hall position sensor of a switch reluctance motor, belonging to the technical field of fault diagnosis and fault tolerance of a switch reluctance motor control system.
Background
The switch reluctance motor has the advantages of simple structure, low cost, strong fault tolerance and the like, and is widely applied to the fields of household appliances, new energy automobiles, mining and the like. The normal operation of a switched reluctance motor depends on the real-time accurate rotor position, and because the switched reluctance motor position sensor is usually installed inside the motor body, the position sensor is easy to fail when the motor always works in a severe environment or is not operated. After the position sensor fails, the rotor position angle acquired by the controller is deviated, so that each phase of power tube in the power converter is triggered by a driving signal error, the output torque of the motor is reduced, even the motor stops running when the motor is serious, and the reliability of the switch reluctance motor driving system is reduced. Therefore, accurate determination of fault sensors and fault types will effectively improve the reliability and fault tolerance of the switched reluctance motor.
The invention provides a fault diagnosis and fault tolerance method based on jump edge combined time hybrid prediction. The method not only effectively solves the problems that the traditional diagnosis method is not timely in fault detection and cannot distinguish fault types, but also has the capacity of carrying out fault tolerance on the fault sensor, and has important application value for improving the reliability of a switch reluctance motor control system.
Disclosure of Invention
The main purpose of the invention is as follows:
a method for simultaneously diagnosing and fault-tolerant a switched reluctance motor position sensor is provided. The method can timely locate and judge the fault type of the fault position sensor, realize fault-tolerant control of the fault position sensor after fault diagnosis is completed, and improve the fault-tolerant capability of the switch reluctance motor driving system during operation.
The invention adopts the following technical scheme to realize the aim:
the invention relates to a fault diagnosis and fault tolerance control method based on jump edge combined time hybrid prediction, which is characterized by comprising the following steps:
the first step: and when the motor normally operates, the jump edges of the Hall signals generated by the three position sensors are acquired, and each jump edge signal is defined. With position sensor H a The following are examples: when CAP captures a falling edge pulse, it is defined as E ad The method comprises the steps of carrying out a first treatment on the surface of the When CAP captures a rising edge pulse, it is defined as E au . Two other position sensors H b 、H c The edge states of (a) are defined as described above. And simultaneously predicting the occurrence time of the edge of the Hall signal generated by each position sensor.
And a second step of: and predicting the jump edge state of the next Hall signal by using the current jump edge signal and the jump edge changing sequence, and using the predicted result as a reference signal for fault diagnosis and fault tolerance of the position sensor.
And a third step of: and capturing the jump edge of the position sensor by utilizing a CAP capturing function in the DSP, and comparing the captured jump edge signal with a reference signal. If the jump edge signal is the same as the reference signal and within the set prediction time range, the jump edge signal is a normal jump signal, and then the second step and the third step are repeated; otherwise, the jump edge signal is an abnormal jump signal, and a fault position sensor and a fault type need to be determined at the moment.
Fourth step: comparing the jump edge signal captured by the CAP with a reference signal, if the jump edge signal and the reference signal are different, indicating that the position sensor generating the jump edge signal has faults, and judging whether the position sensor has high level or low level faults in advance according to the state of the jump edge captured by the current CAP; otherwise, the process goes to the fifth step to perform fault diagnosis.
Fifth step: if the jump edge signal captured by the CAP appears before the set prediction time range, judging that the position sensor generating the jump edge signal has faults, and judging whether the position sensor has high level or low level faults in advance according to the state of the jump edge captured by the current CAP; if the jump edge signal is not captured beyond the preset prediction time range CAP, deducing a disappeared jump edge according to the state of the jump edge captured by the CAP and the reference signal, and determining whether the position sensor has continuous high level or low level fault according to the disappeared jump edge state.
Sixth step: and when the fault diagnosis is finished, predicting the occurrence time of the jump edge of the fault sensor and the occurrence time of the jump edge of the fault sensor by using the residual normal position sensor, and deducing the state of the jump edge of the fault sensor by using the jump edge signal and the reference signal captured by the current CAP. The signal reconstruction of the fault sensor can be completed through the method, and fault tolerance control of the fault sensor is realized.
Seventh step: when one Hall position sensor fails, the reference signal does not contain jump edge information of the failure position sensor any more, and fault diagnosis and fault tolerance are carried out only by utilizing jump edge signals of the remaining two position sensors and the predicted time when the jump edges appear.
Further, in the first step, the edge time of the hall signal output by each position sensor is respectively predicted, and the specific method comprises the following steps:
capturing the jump edges of the position sensor by utilizing the capture function of the CAP in the DSP, simultaneously calculating the time interval between the two jump edges, and calculating the time interval between the next jump edge and the current jump edge through the first two time intervals according to the following formula:
compared with the existing method for diagnosing and fault-tolerant position sensor of the switch reluctance motor, the invention has the following beneficial effects:
the invention provides a fault diagnosis and fault tolerance control method for a position sensor of a switch reluctance motor, which effectively solves the problems that the traditional diagnosis method is not timely in fault detection and cannot distinguish fault types, and the like, and can also carry out fault tolerance on the fault sensor after the fault diagnosis is finished. The method is simple to realize, can realize fault diagnosis and fault tolerance only by adding codes of the method into a control chip of the motor, does not need to add any hardware resources, has good universality for various switch reluctance motor control systems adopting Hall position sensors, and is very suitable for low-cost switch reluctance motor control systems with limited computing capacity.
Drawings
FIG. 1 is a waveform diagram of position sensor mounting position and position signals for a three-phase 12/8 switched reluctance motor
FIG. 2 is a schematic diagram showing the definition of the transition edge signals of three position sensors and the appearance sequence thereof
FIG. 3 is a schematic diagram of predicting the timing of the occurrence of an edge of a Hall signal
FIG. 4 is a schematic diagram of a fault diagnosis method based on the jump edge combined with time hybrid prediction according to the present invention
FIG. 5 is a schematic diagram of a fault tolerance method based on mixed prediction of transition edges and time according to the present invention
FIG. 6 is a flow chart of a fault diagnosis and tolerance method based on the jump edge combined with time hybrid prediction designed by the invention
FIG. 7 is a block diagram of a switched reluctance motor control system
Detailed Description
The technical scheme of the invention is described in detail below with reference to the attached drawings.
The invention provides a fault diagnosis and fault tolerance control method based on jump edge combined time mixed prediction, which can accurately position a fault sensor and a fault type by predicting the occurrence time of jump edge signals and jump edges in real time, and can realize fault tolerance control of the fault position sensor by using the method after the fault diagnosis is finished.
FIG. 1 is a waveform diagram of position sensor mounting locations and position signals for a three-phase 12/8 switched reluctance motor. The three position sensors Ha, hb and Hc are arranged at an interval of 60 degrees to obtain H a 、H b 、H c Position signals of three position sensors, as well as position sensor and signal conditioning circuitIn normal operation, the output waveforms of the three position signals are identical.
FIG. 2 is a schematic diagram of the definition of three position sensor trip edge signals and their order of occurrence. By means of the change sequence of the jump edges of the three position sensors shown in fig. 2, the jump edge of the next hall signal can be predicted according to the jump edge of the current hall signal, and the predicted jump edge signal is used as a reference signal in the fault diagnosis and fault tolerance process of the position sensor.
Fig. 3 is a schematic diagram of predicting the timing of occurrence of an edge of a hall signal. As shown in fig. 3, with a position sensor H a For example, the occurrence time of the jump edge of the subsequent Hall signal can be predicted by combining the angular speed of the motor with the first two time intervals, and the prediction result is used for fault diagnosis and fault tolerance control. The time interval between the next jump edge and the current jump edge can be calculated through the first two time intervals, and the following formula is adopted:
thus, the estimate of the next hop edge occurrence time can be expressed as:
in consideration of the actual situation, even if the hall sensor operates normally, there is a certain error between the estimated value and the actual value, so in order to prevent erroneous judgment in the fault diagnosis process, a threshold coefficient δ is set, and the time range in which the jump edge is allowed to occur is as follows:
T min ≤t x ≤T max
t is in x T is the actual value at the occurrence of the next transition edge min T is the minimum allowed when the next transition edge occurs max T is the maximum allowed when the next hop edge occurs min And T max The expression is as follows:
when the jump edge of the Hall signal appears within the range, the position sensor can be determined to have no fault.
FIG. 4 is a switched reluctance motor position sensor H a And when faults occur, a fault diagnosis method schematic diagram based on the jump edge combined with time hybrid prediction is adopted.
The first step is to capture the jump edge of the position sensor by using the CAP capturing function in the DSP and compare the captured jump edge signal with the reference signal. If the jump edge signal is the same as the reference signal and within the set prediction time range, the jump edge signal is a normal jump signal; otherwise, the jump edge signal is an abnormal jump signal, and a fault position sensor and a fault type need to be determined at the moment.
In the second step, the actual jump edge signal as shown in fig. 4 (a) is compared with the reference signal, and as can be seen from fig. 2, the reference signal is E bu While the jump edge signal captured by CAP is E ad The position sensor H is described a A low failure occurs. If the actual jump edge signal is identical to the reference signal, whether the sensor has a fault or not is judged by comparing whether the moment of occurrence of the jump edge signal is within a defined time range. As can be seen from FIG. 4 (b), when the actual transition occurs along the time t x Less than the specified minimum value T min A position sensor H for generating the jump edge signal is determined a Failure occurs when the jump edge is E ad So the position sensor H a A low level fault has occurred. As shown in FIG. 4 (c), if the set maximum value T is exceeded max If the post CAP has not captured the transition edge signal, deducing the disappearing transition edge as E based on the transition edge signal captured by the prior CAP and the reference signal ad At the same time, the position sensor H is determined according to the disappearing jump edge state a A high level fault has occurred.
FIG. 5 is a transition-based edgeSchematic diagram of fault tolerance method combined with time hybrid prediction. After determining the fault sensor and the fault type thereof, the invention also provides fault tolerance control by the jump edge signal occurrence sequence and the predicted jump edge occurrence time. As shown in fig. 5, when the position sensor H is determined a After failure, through position sensor H b Predicted value T of (2) 3 To reconstruct the transition edge of the faulty sensor. Assuming that the motor is operating in a constant or uniform acceleration/deceleration state, the fault position sensor H is operated because the angular difference between the trip edge signals P is 7.5 degrees a The time at which the next transition edge occurs can be estimated asAnd deducing the state of the reconstructed jump edge according to the sequence of the jump edge signals.
FIG. 6 is a flow chart of a fault diagnosis and fault tolerance method based on a jump edge combined with a time hybrid prediction, which can be used to represent the above fault diagnosis and fault tolerance process.
FIG. 7 is a block diagram of a switched reluctance motor control system. The control system mainly comprises a power converter, a position signal conditioning circuit, a voltage and current conditioning circuit, a controller, a filter circuit and the like. The controller is the core of the whole control system, the position signal conditioning circuit shapes the position signal output by the position sensor and then sends the position signal to the controller, and the controller sends a driving signal according to the position signal to finish the on-off of a power tube in the power converter, so that the operation of the driving motor is realized. As shown in FIG. 7, in the actual application process, the fault location sensor and the fault type thereof can be accurately judged and fault tolerance can be carried out on the fault location sensor only by writing a simple program in the controller under the condition of not adding hardware. The method has important application value for improving the reliability of the control system of the switch reluctance motor.
Claims (2)
1. The invention relates to a fault diagnosis and fault tolerance control method based on jump edge combined time hybrid prediction, which is characterized by comprising the following steps:
the first step: and when the motor normally operates, the jump edges of the Hall signals generated by the three position sensors are acquired, and each jump edge signal is defined. With position sensor H a The following are examples: when CAP captures a falling edge pulse, it is defined as E ad The method comprises the steps of carrying out a first treatment on the surface of the When CAP captures a rising edge pulse, it is defined as E au . Two other position sensors H b 、H c The edge states of (a) are defined as described above. And simultaneously predicting the occurrence time of the edge of the Hall signal generated by each position sensor.
And a second step of: and predicting the jump edge state of the next Hall signal by using the current jump edge signal and the jump edge changing sequence, and using the predicted result as a reference signal for fault diagnosis and fault tolerance of the position sensor.
And a third step of: and capturing the jump edge of the position sensor by utilizing a CAP capturing function in the DSP, and comparing the captured jump edge signal with a reference signal. If the jump edge signal is the same as the reference signal and within the set prediction time range, the jump edge signal is a normal jump signal, and then the second step and the third step are repeated; otherwise, the jump edge signal is an abnormal jump signal, and a fault position sensor and a fault type need to be determined at the moment.
Fourth step: comparing the jump edge signal captured by the CAP with a reference signal, if the jump edge signal and the reference signal are different, indicating that the position sensor generating the jump edge signal has faults, and judging whether the position sensor has high level or low level faults in advance according to the state of the jump edge captured by the current CAP; otherwise, the process goes to the fifth step to perform fault diagnosis.
Fifth step: if the jump edge signal captured by the CAP appears before the set prediction time range, judging that the position sensor generating the jump edge signal has faults, and judging whether the position sensor has high level or low level faults in advance according to the state of the jump edge captured by the current CAP; if the jump edge signal is not captured beyond the preset prediction time range CAP, deducing a disappeared jump edge according to the state of the jump edge captured by the CAP and the reference signal, and determining whether the position sensor has continuous high level or low level fault according to the disappeared jump edge state.
Sixth step: and when the fault diagnosis is finished, predicting the occurrence time of the jump edge of the fault sensor and the occurrence time of the jump edge of the fault sensor by using the residual normal position sensor, and deducing the state of the jump edge of the fault sensor by using the jump edge signal and the reference signal captured by the current CAP. The signal reconstruction of the fault sensor can be completed through the method, and fault tolerance control of the fault sensor is realized.
Seventh step: when one Hall position sensor fails, the reference signal does not contain jump edge information of the failure position sensor any more, and fault diagnosis and fault tolerance are carried out only by utilizing jump edge signals of the remaining two position sensors and the predicted time when the jump edges appear.
2. The control method for fault diagnosis and fault tolerance based on jump edge combined time hybrid prediction according to claim 1, wherein the control method comprises the following steps: in the first step, predicting the edge time of the Hall signal output by each position sensor, and the specific method comprises the following steps:
capturing the jump edges of the position sensor by utilizing the capture function of the CAP in the DSP, simultaneously calculating the time interval between the two jump edges, and calculating the time interval between the next jump edge and the current jump edge through the first two time intervals according to the following formula:
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| CN202410022524.4A CN117811462A (en) | 2024-01-08 | 2024-01-08 | Fault diagnosis and tolerance method for Hall position sensor of switch reluctance motor |
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