阅读说明：本技术 一种永磁同步电机霍尔信号在线校正方法 (Permanent magnet synchronous motor Hall signal online correction method ) 是由 朱勇 于 2021-09-01 设计创作，主要内容包括：本发明公开了一种永磁同步电机霍尔信号在线校正方法,依靠3个霍尔的信号提供磁极位置信息；3个霍尔的信号2进制组合可以组成8组信号,可用于霍尔信号故障检测；如果3个霍尔对称安装每个状态对应的角度范围为60°电角度,不管霍尔位置安装如何,任何一种霍尔有效状态S到下一个同样的状态S(n+1),电机的磁极位置旋转角度的都是360电角度,既一个电周期；电机在高速状态下,在一个电周期内认为电机的速度不变；通过每次变化时进入捕捉中断,记录每个状态值的时间；本发明提出一种永磁同步电机霍尔信号在线校正方法,实时校正获取的角度和速度,保证电机的控制性能最佳。(The invention discloses a permanent magnet synchronous motor Hall signal on-line correction method, which provides magnetic pole position information by means of 3 Hall signals; the 2-system combination of the signals of the 3 Hall devices can form 8 groups of signals, and the signals can be used for Hall signal fault detection; if the angle range corresponding to each state of the 3 symmetrically installed Hall devices is 60 electrical degrees, no matter how the Hall devices are installed, from any Hall effective state S to the next same state S (n +1), the rotation angle of the magnetic pole position of the motor is 360 electrical degrees, namely one electrical cycle; the motor is in a high-speed state, and the speed of the motor is considered to be unchanged in one electric cycle; recording the time of each state value by entering capture interruption at each change; the invention provides an online correction method for a Hall signal of a permanent magnet synchronous motor, which can correct the acquired angle and speed in real time and ensure the optimal control performance of the motor.)

1. An online correction method for a Hall signal of a permanent magnet synchronous motor is characterized by comprising the following steps:

providing magnetic pole position information by means of 3 Hall signals;

the 2-system combination of the signals of 3 hall can form 8 groups of signals: 000. 001, 010, 011, 100, 101, 110, and 111; the signals of 000 and 111 are error signals which can be used for Hall signal fault detection, and the signals of 001, 010, 011, 100 and 101 are effective state signals;

step two, if the angle range corresponding to each state of the 3 symmetrically installed Hall devices is 60 electrical degrees, no matter how the Hall devices are installed, any Hall effective state S is changed to the next same state S (n +1), the rotating angle of the magnetic pole position of the motor is 360 electrical degrees, namely one electrical cycle;

step three, considering the speed of the motor to be unchanged in an electric cycle when the motor is in a high-speed state;

step four, when the motor runs and rotates, the effective state corresponding to the Hall signal is S₁、S₂、S₃、S₄、S₅And S₆The time of each state is T1, T2, T3, T4, T5 and T6, wherein the total time of one cycle is Ts;

Ts＝T1+T2+T3+T4+T5+T6

step five, if the permanent magnet synchronous motor rotates positively, the variation range of the Hall is S₅-S₁-S₃-S₂-S₆-S₄Entering capture interruption during each change, and recording the time of each state value;

wherein S is₅State to next S₅(n +1) state, recording the total time Ts, and the corresponding angle is 360 degrees;

S₅to S₁Is T5, S₅Angle corresponding to the state:

and sequentially recording the time of other states, and calculating the cheap angle corresponding to each state:

2. the online correction method for the Hall signal of the permanent magnet synchronous motor according to claim 1, characterized in that: the motor is in a high-speed state, namely the rotating speed of the motor is more than 40% of the rated rotating speed. But are not limited to 40%.

3. The online correction method for the Hall signal of the permanent magnet synchronous motor according to claim 1, characterized in that: the permanent magnet synchronous motor can be replaced by a brushless direct current motor.

Technical Field

The invention relates to an online correction method for a Hall signal of a permanent magnet synchronous motor, and belongs to the technical field of motor control methods.

Background

In the occasion of low requirement or low cost, the permanent magnet synchronous motor usually adopts 3 or 2 Hall sensors as position and speed feedback quantity. The magnetic pole position of the rotor needs to be accurately known during vector control of the permanent magnet synchronous motor, the Hall sensor is affected by vibration and the like in the using process and is often subjected to offset change, so that the feedback position is changed, and the control performance is poor no matter square wave control or sine wave control is adopted under the condition. Therefore, an online correction method for the hall signal of the permanent magnet synchronous motor is urgently needed to solve the problem in the prior art.

In order to solve the technical problems, a new technical scheme is especially provided.

Disclosure of Invention

The invention aims to provide an online correction method for a permanent magnet synchronous motor Hall signal, which aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: an online correction method for a Hall signal of a permanent magnet synchronous motor comprises the following steps:

providing magnetic pole position information by means of 3 Hall signals;

the 2-system combination of the signals of 3 hall can form 8 groups of signals: 000. 001, 010, 011, 100, 101, 110, and 111; the signals of 000 and 111 are error signals which can be used for Hall signal fault detection, and the signals of 001, 010, 011, 100 and 101 are effective state signals;

step two, if the angle range corresponding to each state of the 3 symmetrically installed Hall devices is 60 electrical degrees, no matter how the Hall devices are installed, any Hall effective state S is changed to the next same state S (n +1), the rotating angle of the magnetic pole position of the motor is 360 electrical degrees, namely one electrical cycle;

step three, considering the speed of the motor to be unchanged in an electric cycle when the motor is in a high-speed state;

step four, when the motor runs and rotates, the effective state corresponding to the Hall signal is S₁、S₂、S₃、S₄、S₅And S₆The time of each state is T1, T2, T3, T4, T5 and T6, wherein the total time of one cycle is Ts;

Ts＝T1+T2+T3+T4+T5+T6

step five, if the permanent magnet is synchronousWhen the motor rotates forwards, the change range of the Hall is S₅-S₁-S₃-S₂-S₆-S₄Entering capture interruption during each change, and recording the time of each state value;

wherein S is₅State to next S₅(n +1) state, recording the total time Ts, and the corresponding angle is 360 degrees;

S₅to S₁Is T5, S₅Angle corresponding to the state:

and sequentially recording the time of other states, and calculating the cheap angle corresponding to each state:

preferably, the motor is in a high speed state, which means that the rotational speed of the motor is greater than 40% of the rated rotational speed. But are not limited to 40%.

Preferably, the permanent magnet synchronous motor may be replaced with a brushless dc motor.

Compared with the prior art, the invention has the beneficial effects that: the method for correcting the Hall signal of the permanent magnet synchronous motor on line is provided, the obtained angle and speed are corrected in real time, and the control performance of the motor is guaranteed to be optimal.

Drawings

FIG. 1 is a schematic diagram of a learning calibration process according to the present invention.

Detailed Description

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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.

Referring to the attached drawings of the specification, the invention provides a technical scheme that: an online correction method for a Hall signal of a permanent magnet synchronous motor comprises the following steps:

providing magnetic pole position information by means of 3 Hall signals;

the 2-system combination of the signals of 3 hall can form 8 groups of signals: 000. 001, 010, 011, 100, 101, 110, and 111; the signals of 000 and 111 are error signals which can be used for Hall signal fault detection, and the signals of 001, 010, 011, 100 and 101 are effective state signals;

step two, if the angle range corresponding to each state of the 3 symmetrically installed Hall devices is 60 electrical degrees, no matter how the Hall devices are installed, any Hall effective state S is changed to the next same state S (n +1), the rotating angle of the magnetic pole position of the motor is 360 electrical degrees, namely one electrical cycle;

step three, considering the speed of the motor to be unchanged in an electric cycle when the motor is in a high-speed state;

step four, when the motor runs and rotates, the effective state corresponding to the Hall signal is S₁、S₂、S₃、S₄、S₅And S₆The time of each state is T1, T2, T3, T4, T5 and T6, wherein the total time of one cycle isTs；

Ts＝T1+T2+T3+T4+T5+T6

Step five, if the permanent magnet synchronous motor rotates positively, the variation range of the Hall is S₅-S₁-S₃-S₂-S₆-S₄Entering capture interruption during each change, and recording the time of each state value;

wherein S is₅State to next S₅(n +1) state, recording the total time Ts, and the corresponding angle is 360 degrees;

S₅to S₁Is T5, S₅Angle corresponding to the state:

and sequentially recording the time of other states, and calculating the cheap angle corresponding to each state:

the learning and correction are started only when the rated rotating speed is higher than 40%. But are not limited to 40%.

The method of the present application is also applicable to a brushless dc motor, and the hall signal online correction method of the brushless dc motor is also within the scope of the present application.

The invention can dynamically learn the error deviation angle of the Hall sensor signal in real time according to the running state of the motor.

As shown in fig. 1, after the system is powered on, detecting whether stored angle data exists in the chip, if not, giving an initial default value, wherein the default value is that each state is uniform, and the corresponding angle is 60 degrees; and dynamically learning, correcting and storing data after the motor runs. If the chip has the stored angle data, the stored angle data is read, and after the motor runs, the motor learns and corrects according to the running conditions and stores the angle data into the EEPROM in the chip or the FLASH of the chip after the motor runs.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.