Position Estimation and Compensation Method of Vector Control Based on Hall Position Sensor

A Hall position and compensation method technology, applied in the direction of torque ripple control, electronic commutator, etc., can solve problems such as installation accuracy errors, achieve the effects of compensating for installation position deviation, compensating for position angle distortion, and reducing waveform distortion

Active Publication Date: 2021-05-25
JIANGSU UNIV
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Problems solved by technology

[0021] Purpose of the invention: In order to solve the existing permanent magnet synchronous motor control, the position estimation algorithm is affected by the installation accuracy of the Hall position sensor and the symmetry of the magnetic pole of the rotor magnet. The permanent magnet synchronous motor position estimation compensation method based on the position sensor can not only compensate the installation position deviation of the Hall sensor, but also compensate the position angle distortion caused by the consistency of the permanent magnet, and at the same time, it does not need a storage medium to perform online compensation

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  • Position Estimation and Compensation Method of Vector Control Based on Hall Position Sensor
  • Position Estimation and Compensation Method of Vector Control Based on Hall Position Sensor
  • Position Estimation and Compensation Method of Vector Control Based on Hall Position Sensor

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Embodiment example

[0060] When the second jump edge is detected, according to the state change of the Hall sensor, it is judged that the motor is rotating forward, and the corresponding rotor angle θr=θs is 0°. Set the current position as the initial angle θrb of the first sector, and the initial angle is 0°. And the time interval between two jump edges is T, then when running in the first sector for t time, the estimated rotor angle θe=θrb+θi, that is, θe=0°+60*t / T.

[0061] When the third jump edge is detected, enter the second sector. According to the Hall state, the uncompensated installation angle θs=60° and the compensation value θc=0° of the second sector are obtained, then θr=θs-θc= 60°. And the total running time of the first sector is 0.9T, the estimated value of the initial angle of the second sector is θe=0°+60*0.9T / T=54°, then Eθ=θr-θe=6°. Assuming Ki=0.1, then θc=θc+Eθ*Ki=0.6°, then θs will also be used as the initial angle θb of the current sector at this time, that is, θb=60°. ...

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Abstract

The invention discloses a method for estimating and compensating the position of a permanent magnet synchronous motor based on a Hall position sensor. When the sensor signal jumps to the edge, the actual initial angle θrb of the corresponding sector is obtained; the angle increment θi within a range is estimated according to the speed of the permanent magnet synchronous motor; the estimated angle θe is obtained according to the formula θe=θrb+θi; and the Hall position is further calculated The actual installation angle θr of the sensor; finally, the difference between the estimated angle θe and the actual installation angle θr is obtained to obtain the error Eθ, and the compensation value θc is calculated by the PI regulator. When controlling the motor, it greatly reduces the distortion of the three-phase sinusoidal voltage waveform, and reduces the torque ripple and noise.

Description

Technical field: [0001] The invention belongs to the technical field of motor control, in particular to a method for estimating and compensating the position of a permanent magnet synchronous motor based on a Hall position sensor. Background technique: [0002] Commonly used rotor position sensors for permanent magnet synchronous motors include resolvers, quadrature encoders, and Hall position sensors. Among them, the resolver and quadrature encoder have the advantages of high precision, but need to install additional equipment on the motor; the Hall sensor can be directly installed inside the motor, which is simple and convenient, but the disadvantage is low precision. The three-phase position signal provided by the three-phase Hall position sensor is as follows: figure 1 As shown, when the rotor rotates at a constant speed, the Hall position sensor provides three square wave signals with a duty cycle of 50% and a phase difference of 120°. The rising and falling edges of ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P6/16H02P6/10
CPCH02P6/10H02P6/16
Inventor 胡方圆沈跃何思伟
Owner JIANGSU UNIV
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