CN105573304B - A kind of permagnetic synchronous motor hall position sensor method for diagnosing faults - Google Patents

Abstract

The invention discloses a fault diagnosis method for a Hall position sensor of a permanent magnet synchronous motor, belonging to the technical field of Hall position sensor fault diagnosis. The present invention detects the output state of the Hall sensor in real time during the motor rotation process, saves the output comprehensive state information of the Hall sensor in the form of binary and decimal arrays respectively, and sequentially excludes three Hall elements according to the binary array and decimal information All faults, two Hall element failures, and one Hall element failure, and after determining the type of fault, the Hall sensor outputs comprehensive information to locate the faulty Hall element, and finally feeds back the fault information to the controller. The hardware is changed, the cost is low, the rapid diagnosis of the fault type provides protection for the system, and the accurate positioning of the faulty Hall element provides strong support for the repair and replacement of the faulty Hall element.

Description

A Fault Diagnosis Method for Hall Position Sensor of Permanent Magnet Synchronous Motor

technical field

The invention discloses a fault diagnosis method for a Hall position sensor, in particular to a fault diagnosis method for a Hall position sensor of a permanent magnet synchronous motor, and belongs to the technical field of Hall position sensor fault diagnosis.

Background technique

Due to the characteristics of high power, high efficiency and low speed and high torque, permanent magnet synchronous motors have been more and more widely used in the fields of industry, transportation and home appliances. Among the control strategies of permanent magnet synchronous motors, vector control is one of the most commonly used control strategies. During the control process, the rotor position needs to be detected in order to prevent the rotor from being out of step. At present, the methods for detecting the rotor position of permanent magnet synchronous motors can be roughly divided into two categories: methods with position sensors and methods without position sensors. The position sensor method uses high-precision sensors such as resolvers and photoelectric encoders to detect the position. The rotor position obtained by this method has high accuracy, but the use of sensors often increases the volume and cost of the system. Although the sensorless position does not increase the size and cost of the system, the position estimation method is generally more complicated, which will inevitably increase the calculation pressure of the system, and the sensorless method generally has poor low-speed performance of the starter. However, in some specific application backgrounds, such as electric vehicles, they are often driven under high temperature, humidity and relatively strong vibration conditions, which will limit the use of the above-mentioned high-precision sensors. At the same time, the car will often start when driving in the city. stop, which would hinder the sensorless range of use. Therefore, the Hall position sensor has been used more and more in some special environments.

The Hall position sensor is a low-precision position sensor with low price, long life and wide operating temperature range. The sensor is composed of 3 switch-type Hall elements, which are evenly installed on a circle with an electrical angle of 120°. As the motor rotates, each Hall element will output different high and low levels, and the entire 360° electrical cycle Divided into 6 sectors of 60°. At the beginning of each sector, the rotor position can be accurately detected, but between sectors, a certain estimation method is required to calculate the rotor position. When using this sensor for position estimation, the condition is that the three Hall elements are normal, but during the operation of the motor, due to changes in the working environment such as temperature and humidity, the Hall element will fail, and the Hall element will be damaged after the failure. The component output status information is always 0 or 1. After the Hall failure, if the position estimation is still carried out according to the original method, the controller will get the wrong position signal, and then send out the wrong voltage signal, which will lead to excessive current, controller protection, or cause the controller to fail. Out of control, the motor burned out.

At present, some Chinese patents have proposed a method for Hall sensor fault diagnosis. The fault diagnosis method proposed by the invention patent with the application number of 201310312121.5 is judged by judging whether all normal states appear when the motor is rotating, but this method does not provide a specific method for locating the faulty Hall element, and this method cannot be used during the motor rotation process. Fault detection in real time; the method given by the invention patent with application number 201310395718.0 is to confirm whether the fault occurs by judging whether the Hall sequence is correct and whether the electrical angle traveled in a certain sector is within the maximum and minimum value range. However, this method does not specify the selection method of the maximum and minimum values, and when the parameter selection is inappropriate, the applicability is relatively poor; the invention patent with the application number 201510533218.8 provides a detailed Hall position sensor fault diagnosis method and its The calculation process of the threshold time in the judgment process, this method is more comprehensive and detailed than the above two methods, but the implementation of this method needs to be improved and the calculation process of the threshold time is relatively complicated.

Contents of the invention

The technical problem to be solved by the present invention is to provide a fault diagnosis method for the Hall position sensor of a permanent magnet synchronous motor in view of the deficiencies of the above-mentioned background technology, which realizes the rapid diagnosis of the fault type of the Hall position sensor and the accurate positioning of the fault Hall element The method solves the technical problems that the existing Hall sensor fault diagnosis method has poor applicability, relatively complicated calculation process, and cannot perform fault detection in real time during the motor rotation process.

The present invention adopts following technical scheme for realizing above-mentioned purpose of the invention:

A method for fault diagnosis of a Hall position sensor of a permanent magnet synchronous motor. The Hall position sensor includes a Hall element A, a Hall element B, and a Hall element C arranged counterclockwise. Element C divides the 360° electrical cycle into six 60° sectors,

The fault diagnosis method includes the following steps:

Ⅰ. Run the motor after initializing the Hall position sensor to output comprehensive status information;

Ⅱ. Detect the output state information of each Hall element, take the output state information of Hall element A as the highest bit, and take the output state information of Hall element C as the lowest bit, and binary code the output state information of each Hall element to obtain Record the binary array of the comprehensive state information output by the Hall position sensor in each sector, and store the decimal data corresponding to the comprehensive state information output by the Hall position sensor in each sector;

Ⅲ. Eliminate the failure of all three Hall elements:

When the comprehensive state information output by the Hall position sensor jumps within the threshold time or threshold angle, enter step IV to continue diagnosing the fault type,

Otherwise, the Hall position sensor feeds back an error signal to the controller, and the controller controls the permanent magnet synchronous motor to stop;

Ⅳ. Troubleshoot the failure of two Hall elements:

When the Hall position sensor outputs more than two types of comprehensive state information during the entire electrical cycle, enter step V to continue diagnosing the fault type,

Otherwise, it is determined that there are two Hall elements faulty and the Hall position sensor in two adjacent sectors outputs the decimal data corresponding to the comprehensive state information to locate the faulty Hall element. The Hall position sensor feedback includes the number of faulty Hall elements and The fault type information of the location is sent to the controller;

Ⅴ. Eliminate the failure of a Hall element:

When the comprehensive state information output by the Hall position sensor does not contain a zero vector, it is determined that the Hall element is not faulty and returns to step Ⅱ.

Otherwise, it is determined that there is a Hall element fault and a Hall position sensor after the zero vector outputs comprehensive status information to locate the faulty Hall element, and the Hall position sensor feeds back fault type information including the number and position of the fault Hall element to controller.

As a non-further optimization scheme for the fault diagnosis method of the Hall position sensor of the permanent magnet synchronous motor, the Hall position sensor in the two adjacent sectors outputs the decimal data corresponding to the comprehensive state information as described in step IV to locate the faulty Hall components, specifically:

When the absolute value of the difference between the decimal data corresponding to the comprehensive state information output by the Hall position sensor in two adjacent sectors is 4, it is determined that the Hall element A is not faulty, and both the Hall element B and the Hall element C are faulty;

When the absolute value of the difference between the decimal data corresponding to the comprehensive state information output by the Hall position sensor in two adjacent sectors is 2, it is determined that the Hall element B is not faulty, and both Hall element A and Hall element C are faulty;

When the absolute value of the difference between the decimal data corresponding to the comprehensive state information output by the Hall position sensors in two adjacent sectors is 1, it is determined that the Hall element C is not faulty, and both Hall element A and Hall element B are faulty.

Further, in step V of the Hall position sensor fault diagnosis method for a permanent magnet synchronous motor, a Hall position sensor after the zero vector state outputs comprehensive state information to locate the faulty Hall element, specifically in the counterclockwise direction In the case of turning sectors:

When a Hall position sensor after the zero vector state outputs comprehensive state information of 010 or 101, it is determined that Hall element A is a faulty Hall element;

When a Hall position sensor after the zero vector state outputs comprehensive state information of 001 or 110, it is determined that the Hall element B is a faulty Hall element;

When the integrated state information output by a Hall position sensor after the zero vector state is 100 or 011, it is determined that the Hall element C is a faulty Hall element.

Further, in step V of the Hall position sensor fault diagnosis method for a permanent magnet synchronous motor, a Hall position sensor after the zero vector state outputs comprehensive state information to locate the faulty Hall element, specifically clockwise In the case of turning sectors:

When a Hall position sensor after the zero vector state outputs comprehensive state information of 001 or 110, it is determined that Hall element A is a faulty Hall element;

When a Hall position sensor after the zero vector state outputs comprehensive state information of 100 or 011, it is determined that the Hall element B is a faulty Hall element;

When a Hall position sensor after the zero vector state outputs comprehensive state information of 010 or 101, it is determined that the Hall element C is a faulty Hall element.

Further, in step III of the Hall position sensor fault diagnosis method for a permanent magnet synchronous motor, the threshold time is calculated according to the minimum speed when the permanent magnet synchronous motor is not started, and the threshold time is calculated when the permanent magnet synchronous motor starts to rotate Then it is calculated based on the average speed of the previous sector; the threshold angle is the sum of 60° and an angle margin.

As a further optimization scheme for the fault diagnosis method of the Hall position sensor of a permanent magnet synchronous motor, the method for initializing the Hall position sensor to output comprehensive state information in step I is: selecting six Hall elements other than the normal working conditions The output state information is the initial value of the comprehensive state information output by the Hall position sensor, and the values of the output state information other than the normal working conditions of the six Hall elements are different.

The present invention adopts the above-mentioned technical scheme, and has the following beneficial effects: a pure software method is used to simply realize the real-time rapid detection and accurate positioning of the fault of the Hall position sensor. The status is detected in real time, and the comprehensive state information output by the Hall position sensor is saved in the form of binary and decimal arrays respectively. According to the binary array and decimal information, all three Hall elements are faulty, two Hall elements are faulty, and one Hall element The fault situation, and after determining the fault type, the Hall position sensor outputs comprehensive information to locate the faulty Hall element, and finally feeds back the fault information to the controller. This solution does not need to change the hardware, is low in cost, and can quickly diagnose the fault type It provides protection for the protection system, and the accurate positioning of the faulty Hall element provides strong support for the repair and replacement of the faulty Hall element.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and will become apparent from the description, or may be learned by practice of the invention.

Description of drawings

Figure 1 is a block diagram of a fault diagnosis method for a hall position sensor of a permanent magnet synchronous motor;

Fig. 2(a) is a Hall position interval diagram when Hall element A, Hall element B, and Hall element C are all normal;

Figure 2(b) is a schematic diagram of the output signals of each Hall element and the storage values of the relevant arrays when Hall element A, Hall element B, and Hall element C are all normal;

Figure 3(a) shows the Hall when Hall element A, Hall element B, and Hall element C are all faulty and the output of Hall element A is 1, the output of Hall element B is 1, and the output of Hall element C is 0 location map;

Figure 3(b) shows that Hall element A, Hall element B, and Hall element C are all faulty and the output of Hall element A is 1, the output of Hall element B is 1, and the output of Hall element C is 0. Schematic diagram of component output signals and related array storage values;

Figure 4(a) is a Hall position interval diagram when Hall element A and Hall element C are faulty and the output of Hall element A is 1, and the output of Hall element C is 0;

Figure 4(b) is a schematic diagram of the output signal of each Hall element and the storage value of the relevant array when Hall element A and Hall element C are faulty and the output of Hall element A is 1 and the output of Hall element C is 0;

Figure 5(a) is the Hall position interval diagram when the Hall element A is faulty and the output is 1;

Figure 5(b) is a schematic diagram of the output signals of each Hall element and the stored values of the relevant array when the Hall element A fails and the output is 1.

detailed description

Embodiments of the present invention will be described in detail below, and the embodiments described below with reference to the accompanying drawings are exemplary, and are only used to explain the present invention, and cannot be construed as limiting the present invention.

The present invention proposes a fault diagnosis method for Hall position sensors of permanent magnet synchronous motors as shown in Figure 1. The Hall position sensors include Hall elements A, Hall elements B, and Hall elements C arranged counterclockwise. Element A, Hall element B, and Hall element C divide the 360° electrical cycle into six 60° sectors. The diagnostic method specifically includes the following four steps.

The first step: variable definition and system initialization. During the rotation of the motor, the Hall position sensor will output 6 comprehensive states, which can be expressed in the form of (ABC) as (100), (110), (010), (011), (001), (101), Divide the entire electrical cycle into 6 sectors, as shown in Figure 2(a), so it is first necessary to define an array Hall(j) to store the comprehensive state of the output of the Hall position sensor in each sector during the operation of the motor. The length of the array is 6 (same as the total number of sectors). At the same time, in order to prevent false alarm failures in the initial stage, the initial values of all elements in the array are set to values other than the above 6 cases, and they are all different. At the same time, in order to facilitate subsequent fault location, the output state information of Hall element C is the lowest bit, and the output state information of Hall element A is the highest bit, and each binary data in the above array is converted into decimal, and an array Hall_dl( j) is used to store the above-mentioned decimal data, and the setting of its initial value adopts the same principle as that of the array Hall(j). When the Hall position sensor is normal, the state of each Hall element and the values of Hall(j) and Hall_dl(j) are shown in Figure 2(b).

Step 2: Hall position sensor signal detection. After the controller starts to drive the motor, the system collects the output state information of the Hall element in the Hall position sensor by means of edge capture, and stores the corresponding binary information in the array Hall(j), and simultaneously stores each The decimal data corresponding to the binary data is stored in the corresponding Hall_dl(j) array.

Step 3: After collecting the signal of the Hall position sensor, use a step-by-step judgment method to judge the type of the fault and locate the fault Hall element. After the Hall position sensor fails, it can be divided into multiple types according to the number and position of the Hall elements that have failed. The present invention will judge in three stages according to the number of Hall elements that fail:

1. Determine whether all three Hall elements are faulty. When all three Hall elements fail, the Hall position sensor has only one state during the rotation of the motor. The Hall position interval diagram at this time is shown in Figure 3(a), and Figure 3(b) shows the Corresponding to the output signal of each Hall element and the storage value of the arrays Hall(j) and Hall_dl(j), at this time, the output of Hall element A is 1, the output of Hall element B is 1, and the output of Hall element C is 0. Here another time variable t _j and the angle θ _j that each sector has traveled are defined. After the time or angle reaches the threshold, if the state of the Hall position sensor has not changed, then it can be considered that all three Halls have occurred. Fault. Threshold time can be divided into two types. One is to get the time by giving a minimum speed before the motor rotates. The other is to get the time by the average speed of the previous sector after the motor rotates. The angle of each sector is obtained by integrating the speed. If the angle reaches 60° plus an angle margin (that is, the threshold angle), the comprehensive state information output by the Hall position sensor remains unchanged, and it can also be It is determined that all three Hall elements are faulty. The threshold calculation process involved in this application is relatively simple, which is beneficial to improve the efficiency of the algorithm.

2. Determine whether the two Hall elements are faulty. When two Hall elements fail, only the state of one Hall element will change, then the Hall position sensor will only output two comprehensive states. The Hall interval diagram after the failure of Hall element A and Hall element C is as follows As shown in Figure 4(a), Figure 4(b) is the corresponding output signal of each Hall element and the storage value of the arrays Hall(j) and Hall_dl(j). At this time, the output of Hall element A is 1, and the Hall element The output of C is 0, which can be used to determine whether the two Hall elements have failed. Judging according to whether the integrated state information output by the Hall position sensor satisfies Hall(j)=Hall(j+2), once this condition is met, it can be judged that two Hall elements are faulty. Since the array Hall_dl(j) stores the decimal data corresponding to Hall(j), the faulty Hall element can be located by the absolute value of Hall_dl(j+1)-Hall_dl(j), when its absolute value is 4 , it can be determined that the Hall element A is not faulty, and the opposite fault is Hall element B and Hall element C; when its absolute value is 2, it can be determined that the Hall element B is not faulty, and the opposite fault is the Hall element A. Hall element C; when its absolute value is 1, it can be determined that Hall element C has not failed, and the faults are Hall element A and Hall element B.

3. Determine whether a Hall element is faulty. When a Hall element fails, there will be four kinds of comprehensive state information output by the Hall position sensor, and one of the states must be the same output state information of the three Hall elements, which is called the zero vector state. When it is judged as After not three or two Hall faults, you can judge whether there will be a zero vector (that is, the state of the three Hall elements is the same, this state may also appear when two Hall elements fail, but this kind The situation has been ruled out) to judge whether there is only one Hall element error, if there is a zero vector, then it can be judged that there is a Hall element failure. Figure 5(a) shows the Hall element after the Hall element A failure The interval diagram, Fig. 5(b) is the corresponding output signal of each Hall element and the storage value of the arrays Hall(j), Hall_dl(j), and the output of Hall element A is 1 at this time. Therefore, when the above two conditions are not established, once a zero vector appears in the array Hall(j), it can be determined that one Hall element is faulty. For fault location, when rotating counterclockwise according to Figure 2(a), after Hall element A fails, if Hall element A outputs state information as 0, then a state after the zero vector is 010, if Hall element A outputs If the state information is 1, then a state after the zero vector is 101; similarly, it can be obtained that the corresponding state after the Hall element B fails is 001 (if the output state information of the Hall element B is 0, then a state after the zero vector is 001), 110 (if the Hall element B output state information is 1, then a state after the zero vector is 110), after the Hall element C fault is 100 (if the Hall element C output state information is 0, then the zero vector The last state is 100), 011 (if the Hall element C output state information is 1, then the next state after the zero vector is 011). When rotating clockwise, after the Hall element A fails, if the Hall element A output state information is 0, then the state after the zero vector is 001, if the Hall element A output state information is 1, then the state information after the zero vector is one The state is 110; similarly, it can be obtained that the corresponding state after the Hall element B fault is 100 (if the Hall element B output state information is 0, then a state after the zero vector is 100), 011 (if the Hall element B outputs The state information is 1, then a state after the zero vector is 011), after the Hall element C fails, it is 010 (if the Hall element C output state information is 0, then a state after the zero vector is 010), 101 (if The output state information of Hall element C is 1, then a state after the zero vector is 101).

Step 4: After the above steps, if it is judged that no fault has occurred, repeat the second and third steps; if it is judged that a fault has occurred in one of the above three situations, return the corresponding fault type to the controller , including the number and location of faulty Hall elements, the controller needs to adopt corresponding strategies for different fault types.

In summary, the present invention uses a pure software method to simply realize the real-time rapid detection and accurate positioning of Hall position sensor faults. The whole scheme detects the output state of Hall position sensors in real time during the motor rotation process, Store the integrated state information of the Hall position sensor output in the form of binary and decimal arrays, and eliminate the failure of all three Hall elements, the failure of two Hall elements, and the failure of one Hall element in sequence according to the binary array and decimal information, and After determining the type of fault, the Hall position sensor outputs comprehensive information to locate the faulty Hall element, and finally feeds back the fault information to the controller. This solution does not need to change the hardware, and the cost is low. The rapid diagnosis of the fault type provides protection for the system. Guarantee, the accurate positioning of the faulty Hall element provides strong support for the repair and replacement of the faulty Hall element.

It can be seen from the above description of the implementation manners that those skilled in the art can clearly understand that the present invention can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution of the present invention or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in storage media, such as ROM/RAM, disk , CD, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the method described in the embodiment or some parts of the embodiment of the present invention.

Claims (6)

1. A method for fault diagnosis of permanent magnet synchronous motor Hall position sensor, Hall position sensor comprises Hall element A, Hall element B, Hall element C arranged counterclockwise, Hall element A, Hall element B, The Hall element C divides the 360° electrical cycle into 6 60° sectors, It is characterized in that the fault diagnosis method comprises the following steps: Ⅰ. Run the motor after initializing the Hall position sensor to output comprehensive status information; Ⅱ. Detect the output state information of each Hall element, take the output state information of Hall element A as the highest bit, and take the output state information of Hall element C as the lowest bit, and binary code the output state information of each Hall element to obtain Record the binary array of the comprehensive state information output by the Hall position sensor in each sector, and store the decimal data corresponding to the comprehensive state information output by the Hall position sensor in each sector; Ⅲ. Eliminate the failure of all three Hall elements: When the comprehensive state information output by the Hall position sensor jumps within the threshold time or threshold angle, enter step IV to continue diagnosing the fault type, Otherwise, the Hall position sensor feeds back an error signal to the controller, and the controller controls the permanent magnet synchronous motor to stop; Ⅳ. Troubleshoot the failure of two Hall elements: When the Hall position sensor outputs more than two types of comprehensive state information during the entire electrical cycle, enter step V to continue diagnosing the fault type, Otherwise, it is determined that there are two Hall elements faulty and the Hall position sensor in two adjacent sectors outputs the decimal data corresponding to the comprehensive state information to locate the faulty Hall element. The Hall position sensor feedback includes the number of faulty Hall elements and The fault type information of the location is sent to the controller; Ⅴ. Eliminate the failure of a Hall element: When the comprehensive state information output by the Hall position sensor does not contain a zero vector, it is determined that the Hall element is not faulty and returns to step Ⅱ. Otherwise, it is determined that there is a Hall element fault and a Hall position sensor after the zero vector outputs comprehensive status information to locate the faulty Hall element, and the Hall position sensor feeds back fault type information including the number and position of the fault Hall element to controller. 2. A method for diagnosing faults of Hall position sensors of permanent magnet synchronous motors according to claim 1, wherein the decimal data corresponding to the comprehensive state information output by the Hall position sensors in two adjacent sectors are described in step IV Locate the faulty Hall element, specifically: When the absolute value of the difference between the decimal data corresponding to the comprehensive state information output by the Hall position sensor in two adjacent sectors is 4, it is determined that the Hall element A is not faulty, and both the Hall element B and the Hall element C are faulty; When the absolute value of the difference between the decimal data corresponding to the comprehensive state information output by the Hall position sensor in two adjacent sectors is 2, it is determined that the Hall element B is not faulty, and both Hall element A and Hall element C are faulty; When the absolute value of the difference between the decimal data corresponding to the comprehensive state information output by the Hall position sensors in two adjacent sectors is 1, it is determined that the Hall element C is not faulty, and both Hall element A and Hall element B are faulty. 3. a kind of permanent magnet synchronous motor Hall position sensor fault diagnosis method according to claim 2, is characterized in that, described in the step Ⅴ by a Hall position sensor after the zero vector state outputs comprehensive state information location fault Hall Er element, specifically in the case of turning counterclockwise through the sector: When a Hall position sensor after the zero vector state outputs comprehensive state information of 010 or 101, it is determined that Hall element A is a faulty Hall element When a Hall position sensor after the zero vector state outputs comprehensive state information of 001 or 110, it is determined that the Hall element B is a faulty Hall element; When the integrated state information output by a Hall position sensor after the zero vector state is 100 or 011, it is determined that the Hall element C is a faulty Hall element. 4. a kind of permanent magnet synchronous motor Hall position sensor fault diagnosis method according to claim 2, is characterized in that, described in the step Ⅴ by a Hall position sensor after the zero-vector state outputs integrated state information location fault Hall Er element, specifically in the case of clockwise rotation through the sector: When a Hall position sensor after the zero vector state outputs comprehensive state information of 001 or 110, it is determined that Hall element A is a faulty Hall element; When a Hall position sensor after the zero vector state outputs comprehensive state information of 100 or 011, it is determined that the Hall element B is a faulty Hall element; When a Hall position sensor after the zero vector state outputs comprehensive state information of 010 or 101, it is determined that the Hall element C is a faulty Hall element. 5. A method for diagnosing a permanent magnet synchronous motor Hall position sensor fault according to any one of claims 1 to 4, wherein the threshold time in step III is based on a The set minimum speed is calculated, and the threshold time is calculated according to the average speed of the previous sector after the permanent magnet synchronous motor starts to rotate; the threshold angle is the sum of 60° and an angle margin. 6. A method for diagnosing faults of Hall position sensors of permanent magnet synchronous motors according to claim 1, wherein the method for initializing Hall position sensors to output comprehensive state information in step I is: selecting six Hall elements The output state information other than normal working conditions is the initial value of the comprehensive state information output by the Hall position sensor, and the output state information of the six Hall elements other than normal working conditions have different values.