A method for rotor position estimation of switched reluctance motor based on linear Hall effect

Abstract

The present invention discloses a method for estimating the rotor position of a switched reluctance motor based on linear Hall, comprising: detecting the marginal magnetic flux generated by the armature magnetomotive force in the stator slot by three linear Hall elements installed at the stator slot; converting the output voltage signals of the three linear Hall elements into digital signals by using a digital signal processor and preprocessing them into an orthogonal signal containing a pair of orthogonal components and a DC component through linear combination; extracting the positive sequence component of a fundamental frequency signal containing only a very small amount of high-order harmonics from the orthogonal signal by using a multi-repetition coefficient filter with harmonic selection capability; and extracting the motor rotor position contained in the positive sequence component of the fundamental frequency signal by using a synchronous reference frame phase-locked loop. The present invention realizes low-cost, high-compactness, and high-precision estimation of the rotor position of the switched reluctance motor.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor control, and in particular relates to a method for estimating the rotor position of a switched reluctance motor based on linear Hall and a detection system thereof. Background Art

[0002] Typical control methods for switched reluctance motors (SRMs) include current chopping control and angular position control, both of which rely heavily on accurate rotor position information. In traditional SRM drive systems, commonly used position sensors, such as optical encoders or switched Hall effect sensors, provide only a limited amount of feedback signal per electrical cycle, resulting in low rotor position resolution. In recent years, advanced control algorithms, such as direct instantaneous torque control (DITCT), have been proposed to reduce SRM torque ripple, vibration, and noise. These algorithms require accurate rotor position information. Therefore, in high-performance SRM control algorithms, commonly used position sensors no longer meet the rotor position accuracy requirements. Furthermore, traditional physical sensors, such as optical encoders, resolvers, and magnetic encoders, need to be coaxially mounted externally to the motor, inevitably increasing the axial length and volume of the motor system. Furthermore, the presence of optical encoders and resolvers increases manufacturing costs, making them unsuitable for cost-sensitive applications. Furthermore, optical encoders are sensitive to smoke and dust, while resolvers are significantly affected by electromagnetic interference. These issues limit their application in harsh operating environments.

[0003] Therefore, many researchers have proposed sensorless rotor position control algorithms, such as those based on flux or inductance models, current or inductance gradient methods, and sliding mode control. However, most positionless control methods are highly dependent on motor parameters and are significantly affected by motor machining and assembly errors, operating conditions, and ambient temperature. Summary of the Invention

[0004] In view of the deficiencies in the prior art, the present invention provides a method for estimating the rotor position of a switched reluctance motor based on linear Hall and a detection system thereof, which solve the above problems.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: A method for estimating the rotor position of a switched reluctance motor based on linear Hall, comprising:

[0006] The edge magnetic flux generated by the armature magnetomotive force in the stator slot is detected by three linear Hall elements installed at the stator slot.

[0007] The output voltage signals of the three linear Hall elements are converted into digital signals by using a digital signal processor and pre-processed into orthogonal signals including a pair of orthogonal components and a DC component through linear combination;

[0008] A multi-repetition coefficient filter with harmonic selection capability is used to extract the positive sequence component of the fundamental frequency signal containing only a very small amount of high-order harmonics from the orthogonal signal;

[0009] A synchronous reference frame phase-locked loop is used to extract the motor rotor position contained in the positive sequence component of the baseband signal.

[0010] On the basis of the above technical solutions, the present invention also provides the following optional technical solutions:

[0011] Further technical solution: The expression of the orthogonal signal is:

[0012] H αβ0 =T Clarke H abc

[0013] in

[0014] H abc is a vector composed of the output voltages of three linear Hall elements;

[0015] H abc =[H a ,H b ,H c ]T,H a is the output voltage of the first linear Hall element, H b is the output voltage of the second linear Hall element, H c is the output voltage of the third linear Hall element;

[0016] H αβ0 is an orthogonal signal, H αβ0 =[H α ,H β ,H0] T , H α and H β is the orthogonal component, H0 is the DC component, T Clarke is the linear combination coefficient matrix,

[0017] Further technical solution: the multi-repetition coefficient filter includes an interconnected first detection filter, a second detection filter, a third detection filter and a fourth detection filter;

[0018] in,

[0019] The first detection filter is used to extract the positive sequence component of the fundamental frequency signal having the same electrical frequency as the motor rotor rotation frequency from the orthogonal signal;

[0020] The second detection filter is used to extract the negative sequence component of the fundamental frequency signal having the same electrical frequency as the motor rotor rotation frequency in the orthogonal signal;

[0021] The third detection filter is used to extract the second-order harmonic positive sequence component in the orthogonal signal;

[0022] The fourth detection filter is used to extract the second-order harmonic negative sequence component in the orthogonal signal.

[0023] Further technical solution: The expression for extracting the positive sequence component of the baseband signal is:

[0024]

[0025] in,

[0026] F1s is the expression of the positive sequence component of the fundamental frequency signal in the s domain, ω0 is the frequency of the positive sequence component of the fundamental frequency signal, ω c = c *ω0,k c It is a positive number and is used to adjust the filter bandwidth.

[0027] Further technical solution: The expression for extracting the negative sequence component of the fundamental frequency signal is:

[0028]

[0029] in,

[0030] F2s is the expression of the negative sequence component of the fundamental frequency signal in the s domain, ω0 is the frequency of the negative sequence component of the fundamental frequency signal, ω c = c *ω0,k c is a positive number and can be used to adjust the filter bandwidth.

[0031] Further technical solution: The expression for extracting the second-order harmonic positive sequence signal is:

[0032]

[0033] in,

[0034] F3S is the expression of the second-order harmonic positive sequence signal in the s domain, ω0 is the frequency of the fundamental positive sequence signal, ω c = c *0,k c is a positive number and can be used to adjust the filter bandwidth.

[0035] Further technical solution: The expression for extracting the second-order harmonic negative sequence signal is:

[0036]

[0037] in,

[0038] F4s is the expression of the second-order harmonic negative sequence signal in the s domain, ω0 is the frequency of the fundamental positive sequence signal, ωc = c *ω0,k c is a positive number and can be used to adjust the filter bandwidth.

[0039] The detection system used in the linear Hall-based switched reluctance motor rotor position estimation method is characterized by comprising:

[0040] The first linear Hall element is installed and embedded in any stator slot, and the magnetic sensitive surface is parallel to the stator slot surface;

[0041] The second linear Hall element is installed and embedded in the stator slot and is 2π / 3 electrical angle away from the first linear Hall element in the circumferential direction, and the magnetic sensitive surface is parallel to the surface of the stator slot;

[0042] A third linear Hall element is installed and embedded in the stator slot and is 2π / 3 electrical angle away from the second linear Hall element in the circumferential direction, and its magnetic sensitive surface is parallel to the surface of the stator slot; and

[0043] The digital signal processor is connected to the first linear Hall element, the second linear Hall element, and the third linear Hall element.

[0044] Further technical solution: The digital signal processor includes:

[0045] an analog-to-digital converter connected to the first linear Hall element, the second linear Hall element, and the third linear Hall element;

[0046] A linear combination unit is connected to the output end of the analog-to-digital converter;

[0047] a multi-repetitive coefficient filter connected to the output terminal of the linear combination unit; and

[0048] The synchronous reference frame phase-locked loop is connected to the output end of the multi-repetition coefficient filter.

[0049] Further technical solution: The multi-repetition coefficient filter includes:

[0050] a first addition-subtraction combination module, wherein the first input terminal is connected to the quadrature signal and the second input terminal is connected to the output terminal of the sixth addition-subtraction combination module;

[0051] a second addition-subtraction combination module, wherein the first input terminal is connected to the output terminal of the first addition-subtraction combination module, and the second input terminal is connected to the output terminal of the first detection filter;

[0052] a third addition-subtraction combination module, wherein the first input terminal is connected to the output terminal of the first addition-subtraction combination module, and the second input terminal is connected to the output terminal of the second detection filter;

[0053] a fourth addition-subtraction combination module, wherein the first input terminal is connected to the output terminal of the first addition-subtraction combination module, and the second input terminal is connected to the output terminal of the third detection filter;

[0054] a fifth addition-subtraction combination module, wherein the first input terminal is connected to the output terminal of the first addition-subtraction combination module, and the second input terminal is connected to the output terminal of the fourth detection filter;

[0055] a first detection filter, an input end of which is connected to the output end of the second addition-subtraction combination module;

[0056] a second detection filter, an input end of which is connected to the output end of the third addition-subtraction combination module;

[0057] a third detection filter, an input end of which is connected to the output end of the fourth addition-subtraction combination module; and

[0058] The fourth detection filter has an input end connected to the output end of the fifth addition-subtraction combination module.

[0059] Beneficial effects

[0060] The present invention provides a method for estimating the rotor position of a switched reluctance motor based on linear Hall, which has the following advantages compared with the prior art:

[0061] 1. The present invention installs three linear Hall elements at equal intervals in the stator slots to detect the armature magnetic field of the switched reluctance motor. The output data of the linear Hall elements is sequentially subjected to analog-to-digital conversion, linear combination, multi-repetition coefficient filtering, and synchronous reference frame phase locking to obtain an estimated motor rotor position. This overcomes the shortcomings of existing switched reluctance motor rotor position estimation methods, such as reliance on motor parameters and significant influence from the operating environment. It achieves high-precision rotor position estimation and improves the reliability of the switched reluctance motor control system.

[0062] 2. The method for estimating the rotor position of the switched reluctance motor disclosed in the present invention can be implemented by using a rotor position detection system of a low-cost linear Hall element and a digital signal processor. It not only realizes the accurate estimation of the rotor position of the switched reluctance motor, but also can greatly reduce the axial length, volume and cost of the switched reluctance motor system. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 This is a structural diagram of the linear Hall-based switched reluctance motor rotor position estimation method and detection system proposed in the present invention;

[0064] Figure 2 The installation position of the switched reluctance motor and the linear Hall element in the present invention;

[0065] Figure 3 This is a block diagram of a linear Hall-based switched reluctance motor rotor position estimation method and a multi-repetition coefficient filter in the detection system proposed by the present invention;

[0066] Figure 4 This is a block diagram of a synchronous reference frame phase-locked loop in a linear Hall-based switched reluctance motor rotor position estimation method and detection system proposed in the present invention;

[0067] Figure 5 The waveform diagram is a magnetic flux density signal corresponding to the three-phase digital signal after the analog-to-digital converter of the present invention, a positive sequence component of the fundamental signal extracted from the orthogonal signal, and an estimated rotor position.

[0068] Notes on figure markings: 1. First linear Hall element; 2. Second linear Hall element; 3. Third linear Hall element; 4. Motor under test; 5. Analog-to-digital converter; 6. Three-phase digital signal; 7. Linear combination; 8. Orthogonal signal; 9. Multi-repetition coefficient filter; 10. Positive sequence component of baseband signal; 11. Synchronous reference frame phase-locked loop; 12. Estimated rotor position of motor; 13. Digital signal processor; 14. First addition and subtraction combination module; 15. Second addition and subtraction combination module; 16. Third addition and subtraction combination module; 17. Fourth addition and subtraction combination module; 18. Fifth addition and subtraction combination module; 19. Sixth addition and subtraction combination module; 20. Q-axis component; 21. Estimated rotor speed of motor; 22. Phase detector; 23. Loop filter; 24. Voltage-controlled oscillator. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0070] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0071] See also Figures 1 to 5 , an embodiment of the present invention provides a method for estimating the rotor position of a switched reluctance motor based on linear Hall, comprising:

[0072] The edge magnetic flux generated by the armature magnetomotive force in the stator slot is detected by three linear Hall elements installed at the stator slot.

[0073] The output voltage signals of the three linear Hall elements are converted into digital signals by using a digital signal processor and pre-processed into orthogonal signals including a pair of orthogonal components and a DC component through linear combination;

[0074] A multi-repetition coefficient filter with harmonic selection capability is used to extract the positive sequence component of the fundamental frequency signal containing only a very small amount of high-order harmonics from the orthogonal signal;

[0075] A synchronous reference frame phase-locked loop is used to extract the motor rotor position contained in the positive sequence component of the baseband signal.

[0076] Specifically, the linear Hall element is a three-phase linear Hall element used to detect the armature magnetic field generated by the armature winding.

[0077] Specifically, the magnetic sensitive surfaces of the three linear Hall elements are parallel to the stator slot surface;

[0078] Wherein, the first linear Hall element is installed and embedded in any stator slot;

[0079] The second linear Hall element is installed and embedded in the stator slot and is 2π / 3 electrical angle away from the first linear Hall element in the circumferential direction;

[0080] The third linear Hall element is installed and embedded in the stator slot and is 2π / 3 electrical angle away from the second linear Hall element in the circumferential direction.

[0081] Specifically, the expression of the orthogonal signal is:

[0082] H αβ0 =T Clarke H abc

[0083] in

[0084] H abc is a vector composed of the output voltages of three linear Hall elements;

[0085] H abc =[H a ,H b ,H c ]T,H a is the output voltage of the first linear Hall element, H b is the output voltage of the second linear Hall element, H c is the output voltage of the third linear Hall element;

[0086] H αβ0 is an orthogonal signal, H αβ0 =[H α H β ,H0]T,H α and H β is the orthogonal component, H0 is the DC component, T Clarke is the linear combination coefficient matrix,

[0087] Specifically, the multi-repetition coefficient filter is used to filter out the main second-order harmonics in the armature magnetic field and extract the positive sequence component of the fundamental frequency signal containing a very small amount of high-order harmonics, and includes an interconnected first detection filter, a second detection filter, a third detection filter, and a fourth detection filter;

[0088] in,

[0089] The first detection filter is used to extract the positive sequence component of the fundamental frequency signal having the same electrical frequency as the motor rotor rotation frequency from the orthogonal signal;

[0090] The second detection filter is used to extract the negative sequence component of the fundamental frequency signal having the same electrical frequency as the motor rotor rotation frequency in the orthogonal signal;

[0091] The third detection filter is used to extract the second-order harmonic positive sequence component in the orthogonal signal;

[0092] The fourth detection filter is used to extract the second-order harmonic negative sequence component in the orthogonal signal.

[0093] Specifically, the expression for extracting the positive sequence component of the baseband signal is:

[0094]

[0095] in,

[0096] F1s is the expression of the positive sequence component of the fundamental frequency signal in the s domain, ω0 is the frequency of the positive sequence component of the fundamental frequency signal, ω c = c *0,k c It is a positive number and is used to adjust the filter bandwidth.

[0097] Specifically, the expression for extracting the negative sequence component of the fundamental frequency signal is:

[0098]

[0099] in,

[0100] F2s is the expression of the negative sequence component of the fundamental frequency signal in the s domain, ω0 is the frequency of the negative sequence component of the fundamental frequency signal, ω c = c *0,k c is a positive number and can be used to adjust the filter bandwidth

[0101] Specifically, the expression for extracting the second-order harmonic positive sequence signal is:

[0102]

[0103] in,

[0104] F3(s) is the expression of the second-order harmonic positive sequence signal in the s domain, ω0 is the frequency of the fundamental positive sequence signal, ω c =k c *ω0,k c is a positive number and can be used to adjust the filter bandwidth.

[0105] Specifically, the expression for extracting the second-order harmonic negative sequence signal is:

[0106]

[0107] in,

[0108] F4(s) is the expression of the second-order harmonic negative sequence signal in the s domain, ω0 is the frequency of the fundamental positive sequence signal, ω c =k c *ω0,k c is a positive number and can be used to adjust the filter bandwidth.

[0109] Specifically, the synchronous reference frame phase-locked loop includes a phase detector, a loop filter, and a voltage-controlled oscillator. First, the phase detector's input is connected to the positive-sequence component of the armature magnetic field fundamental frequency signal in a two-phase stationary coordinate system. A 2s / 2r coordinate transformation is performed on the positive-sequence component of the armature magnetic field fundamental frequency signal in the two-phase stationary coordinate system, outputting the positive-sequence component of the armature magnetic field fundamental frequency signal in a two-phase rotating coordinate system. Then, the loop filter's input is connected to the q-axis component of the positive-sequence component of the armature magnetic field fundamental frequency signal in the two-phase rotating coordinate system. After PI regulation, the loop filter outputs a rotor speed estimate. Finally, the voltage-controlled oscillator's input is connected to the rotor speed estimate, outputting a rotor angular position estimate, i.e., the motor's rotor position.

[0110] A linear Hall-based switched reluctance motor rotor position detection system adopts the above-mentioned linear Hall-based switched reluctance motor rotor position estimation method, comprising:

[0111] A first linear Hall element 1, a second linear Hall element 2, a third linear Hall element 3 embedded in the stator slot of the motor under test 4 and a digital signal processor 13 for processing the output voltage of the linear Hall element and connected to the first linear Hall element 1, the second linear Hall element 2, and the third linear Hall element 3 are installed.

[0112] The installation positions of the motor 4 under test and the linear Hall element are as follows: Figure 2 As shown, it is a three-phase 12 / 8 switched reluctance motor.

[0113] Specifically, the three linear Hall elements are installed and embedded in the stator slots at intervals of one stator slot pitch, and the magnetic sensitive surfaces of the Hall elements are parallel to the surfaces of the stator slots; among the three linear Hall elements, the first linear Hall element 1 is installed and embedded in any stator slot, and the second linear Hall element is 2π / 3 electrical angle apart from the first linear Hall element along the circumferential direction; the third linear Hall element is 2π / 3 electrical angle apart from the second linear Hall element.

[0114] Specifically, with the counterclockwise direction as the positive direction, when the rotor rotates at a uniform forward speed, the electrical angle phase difference between the output voltage signals of the first linear Hall element 1 and the second linear Hall element 2 is 2π / 3; the electrical angle phase difference between the output voltage signals of the second linear Hall element 2 and the third linear Hall element 3 is 2π / 3.

[0115] Specifically, the digital signal processor 13 includes:

[0116] an analog-to-digital converter 5 connected to the first linear Hall element 1, the second linear Hall element 2, and the third linear Hall element 3, receiving output voltage signals of the three linear Hall elements and outputting digital values of the output signals of the three linear Hall elements;

[0117] The linear combination unit 7 is connected to the output end of the analog-to-digital converter 5, receives the digital values of the three linear Hall element output signals output by the analog-to-digital converter 5, and outputs an orthogonal signal 8 including a pair of orthogonal components and a DC component;

[0118] a multi-repetition coefficient filter 9 connected to the output end of the linear combination unit 7, filtering out the main second-order harmonics in the armature magnetic field from the orthogonal signal 8, extracting the positive sequence component 10 of the fundamental frequency signal containing only a very small amount of high-order harmonics, and outputting the extracted positive sequence component 10; and

[0119] The synchronous reference frame phase-locked loop 11 is connected to the output end of the multi-repetition coefficient filter 9, receives the positive sequence component 10 of the baseband signal output by the multi-repetition coefficient filter 9, extracts the motor rotor position 12 and outputs it.

[0120] The power supply voltage of the digital signal processor 13 is 3.3 volts. a The signal comes from the first linear Hall element 1, H b The signal comes from the second linear Hall element 2, H c The signal comes from the third linear Hall element 3, which outputs an analog voltage of 0-3.3V. In the digital signal processor 13, the output voltage signals of the three linear Hall elements are converted into three-phase digital signals 6 through the analog-to-digital converter 5, which are represented by H abc =[H a ,H b ,H c ] T .

[0121] The linear combination 7 of the three-phase digital signal 6 is as follows:

[0122] H αβ0 =T Clarke H abc

[0123] in:

[0124]

[0125] The orthogonal signal 8 after the linear combination 7 is processed is H αβ0 =[H α ,H β ,H0] T .

[0126] A multi-repetition coefficient filter 9 with harmonic selection capability is used to filter out the main second-order harmonics in the armature magnetic field from the orthogonal signal 8, and only the positive sequence component 10 of the armature magnetic field fundamental frequency signal, which is the same as the motor rotor rotation frequency, is extracted.

[0127] Specifically, the multi-repetition coefficient filter 9 includes:

[0128] A first addition-subtraction combination module 14 has a first input terminal connected to the orthogonal signal 8, a second input terminal connected to the output terminal of the sixth addition-subtraction combination module 19, and outputs an intermediate signal obtained by removing the fundamental frequency signal positive sequence component 10, the fundamental frequency signal negative sequence component, the second-order harmonic positive sequence signal, and the second-order harmonic negative sequence signal from the orthogonal signal 8;

[0129] A second addition-subtraction combination module 15 has a first input terminal connected to the output terminal of the first addition-subtraction combination module 14, a second input terminal connected to the output terminal of the first detection filter, and outputs the accumulation result of the intermediate signal and the positive sequence component 10 of the baseband signal;

[0130] A third addition-subtraction combination module 16 has a first input terminal connected to the output terminal of the first addition-subtraction combination module 14, a second input terminal connected to the output terminal of the second detection filter, and outputs the accumulation result of the intermediate signal and the negative sequence component of the baseband signal;

[0131] a fourth addition-subtraction combination module 17, whose first input terminal is connected to the output terminal of the first addition-subtraction combination module 14, whose second input terminal is connected to the output terminal of the third detection filter, and outputs the accumulation result of the intermediate signal and the second-order harmonic positive sequence signal;

[0132] a fifth addition-subtraction combination module 18, a first input terminal of which is connected to the output terminal of the first addition-subtraction combination module 14, a second input terminal of which is connected to the output terminal of the fourth detection filter, and outputs the accumulation result of the intermediate signal and the second-order harmonic negative sequence signal;

[0133] The first detection filter has its input connected to the output of the second addition and subtraction combination module 15 and outputs the positive sequence component 10 of the baseband signal;

[0134] The second detection filter has its input connected to the output of the third addition and subtraction combination module 16 and outputs the negative sequence component of the baseband signal;

[0135] The third detection filter has its input end connected to the output end of the fourth addition and subtraction combination module 17 and outputs a second-order harmonic positive sequence signal;

[0136] And a fourth detection filter, whose input end is connected to the output end of the fifth addition and subtraction combination module 18, outputs a second-order harmonic negative sequence signal.

[0137] The multi-repetition coefficient filter 9 includes interconnected first, second, third, and fourth detector filters. The outputs of the four detector filters are subtracted from the orthogonal signal 8 to form an intermediate signal, which is processed by a first addition-subtraction combination module 14. The outputs of the four detector filters are summed by a sixth addition-subtraction combination module 19 and then fed into the first addition-subtraction combination module 14. The intermediate signal is added to the output signal of the first detector filter as the input signal of the first detector filter, which is processed by a second addition-subtraction combination module 15. The intermediate signal is added to the output signal of the second detector filter as the input signal of the second detector filter, which is processed by a third addition-subtraction combination module 16. The intermediate signal is added to the output signal of the third detector filter as the input signal of the third detector filter, which is processed by a fourth addition-subtraction combination module 17. The intermediate signal is added to the output signal of the fourth detector filter as the input signal of the fourth detector filter, which is processed by a fifth addition-subtraction combination module 18.

[0138] The first detection filter extracts the positive sequence component 10 of the fundamental frequency signal which is the same as the rotational frequency of the motor rotor from the orthogonal signal 8. The first detection filter can be expressed as:

[0139]

[0140] Where ω0 is the frequency of the positive sequence signal, ω c = c *ω0,k c =0.707.

[0141] The second detection filter extracts the negative sequence component of the fundamental frequency signal which is the same as the motor rotor rotation frequency from the orthogonal signal 8. The second detection filter can be expressed as:

[0142]

[0143] The third detection filter extracts the second-order harmonic positive sequence signal of the positive sequence signal from the orthogonal signal 8. The third detection filter can be expressed as:

[0144]

[0145] The fourth detection filter extracts the second-order harmonic negative sequence signal of the positive sequence signal from the orthogonal signal 8. The fourth detection filter can be expressed as:

[0146]

[0147] A synchronous reference frame phase-locked loop 11 is used to extract the motor rotor position 12 contained in the positive sequence component 10 of the armature magnetic field fundamental frequency signal.

[0148] Specifically, the synchronous reference frame phase-locked loop 11 includes a phase detector 22, a loop filter 23, and a voltage-controlled oscillator 24. First, the input of the phase detector 22 is connected to the positive-sequence component 10 of the armature magnetic field fundamental frequency signal in a two-phase stationary coordinate system. A 2s / 2r coordinate transformation is performed on the positive-sequence component 10 of the armature magnetic field fundamental frequency signal in the two-phase stationary coordinate system, outputting the positive-sequence component 10 of the armature magnetic field fundamental frequency signal in the two-phase rotating coordinate system. Then, the input of the loop filter 23 is connected to the q-axis component 20 of the positive-sequence component 10 of the armature magnetic field fundamental frequency signal in the two-phase rotating coordinate system. After PI regulation, the loop filter 23 outputs a rotor speed estimate 21. Finally, the input of the voltage-controlled oscillator 24 is connected to the rotor speed estimate 21, outputting a rotor angular position estimate, i.e., the motor rotor position 12.

[0149] Figure 5 The armature magnetic field flux density signal corresponding to the three-phase digital signal 6 after passing through the analog-to-digital converter 5, the armature magnetic field fundamental frequency signal positive sequence component 10 extracted from the orthogonal signal 8, and the estimated motor rotor position 12 in the embodiment are respectively shown.

[0150] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0151] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A method for estimating the rotor position of a switched reluctance motor based on linear Hall, characterized in that: include: The edge magnetic flux generated by the armature magnetomotive force in the stator slot is detected by three linear Hall elements installed at the stator slot. The output voltage signals of the three linear Hall elements are converted into digital signals by using a digital signal processor and pre-processed into orthogonal signals including a pair of orthogonal components and a DC component through linear combination; A multi-repetition coefficient filter with harmonic selection capability is used to extract the positive sequence component of the fundamental frequency signal including high-order harmonics from the orthogonal signal; Extracting the motor rotor position contained in the positive sequence component of the fundamental frequency signal using a synchronous reference frame phase-locked loop; The expression of the orthogonal signal is: H αβ0 =T Clarke H abc in, H abc is a vector composed of the output voltages of three linear Hall elements; H abc =[H a ,H b ,H c ] T , H a is the output voltage of the first linear Hall element, H b is the output voltage of the second linear Hall element, H c is the output voltage of the third linear Hall element; H αβ0 is an orthogonal signal, H αβ0 =[H α ,H β ,H0] T , H α and H β is the orthogonal component, H0 is the DC component, T Clarke is the linear combination coefficient matrix, 2. The method for estimating the rotor position of a switched reluctance motor based on linear Hall according to claim 1, characterized in that: The multi-repetition coefficient filter includes a first detection filter, a second detection filter, a third detection filter and a fourth detection filter that are interconnected; in, The first detection filter is used to extract the positive sequence component of the fundamental frequency signal having the same electrical frequency as the motor rotor rotation frequency from the orthogonal signal; The second detection filter is used to extract the negative sequence component of the fundamental frequency signal having the same electrical frequency as the motor rotor rotation frequency in the orthogonal signal; The third detection filter is used to extract the second-order harmonic positive sequence component in the orthogonal signal; The fourth detection filter is used to extract the second-order harmonic negative sequence component in the orthogonal signal.

3. The method for estimating the rotor position of a switched reluctance motor based on linear Hall according to claim 2, characterized in that: The expression for extracting the positive sequence component of the baseband signal is: in, F1(s) is the expression of the positive sequence component of the fundamental frequency signal in the s domain, ω0 is the frequency of the positive sequence component of the fundamental frequency signal, ω c =k c *ω0,k c It is a positive number and is used to adjust the filter bandwidth.

4. The method for estimating the rotor position of a switched reluctance motor based on linear Hall according to claim 2, characterized in that: The expression for extracting the negative sequence component of the fundamental frequency signal is: in, F2(s) is the expression of the negative sequence component of the fundamental frequency signal in the s domain, ω0 is the frequency of the negative sequence component of the fundamental frequency signal, ω c =k c *ω0,k c is a positive number and can be used to adjust the filter bandwidth.

5. The method for estimating the rotor position of a switched reluctance motor based on linear Hall according to claim 2, characterized in that: The expression for extracting the second-order harmonic positive sequence signal is: in, F3(s) is the expression of the second-order harmonic positive sequence signal in the s domain, ω0 is the frequency of the positive sequence component of the fundamental frequency signal, ω c =k c *ω0,k c is a positive number and can be used to adjust the filter bandwidth.

6. The method for estimating the rotor position of a switched reluctance motor based on linear Hall according to claim 2, characterized in that: The expression for extracting the second-order harmonic negative sequence signal is: in, F4(s) is the expression of the second-order harmonic negative sequence signal in the s domain, ω0 is the frequency of the positive sequence component of the fundamental frequency signal, ω c =k c *ω0,k c is a positive number and can be used to adjust the filter bandwidth.

7. A detection system for use in the linear Hall-based switched reluctance motor rotor position estimation method according to any one of claims 1 to 6, characterized in that: include: A first linear Hall element is installed and embedded in any stator slot, with a magnetic sensitive surface parallel to the stator slot surface; The second linear Hall element is installed and embedded in the stator slot and is 2π / 3 electrical angle away from the first linear Hall element in the circumferential direction, and the magnetic sensitive surface is parallel to the surface of the stator slot; The third linear Hall element is installed and embedded in the stator slot and is 2π / 3 electrical angle away from the second linear Hall element in the circumferential direction, and the magnetic sensitive surface is parallel to the surface of the stator slot; as well as The digital signal processor is connected to the first linear Hall element, the second linear Hall element, and the third linear Hall element.

8. The detection system for the linear Hall-based switched reluctance motor rotor position estimation method according to claim 7, characterized in that: The digital signal processor comprises: an analog-to-digital converter connected to the first linear Hall element, the second linear Hall element, and the third linear Hall element; A linear combination unit is connected to the output end of the analog-to-digital converter; a multi-repetitive coefficient filter connected to the output terminal of the linear combination unit; and The synchronous reference frame phase-locked loop is connected to the output end of the multi-repetition coefficient filter.

9. The detection system for the linear Hall-based switched reluctance motor rotor position estimation method according to claim 8, characterized in that: The multiple-repetition coefficient filter comprises: a first addition-subtraction combination module, wherein the first input terminal is connected to the quadrature signal and the second input terminal is connected to the output terminal of the sixth addition-subtraction combination module; a second addition-subtraction combination module, wherein the first input terminal is connected to the output terminal of the first addition-subtraction combination module, and the second input terminal is connected to the output terminal of the first detection filter; a third addition-subtraction combination module, wherein the first input terminal is connected to the output terminal of the first addition-subtraction combination module, and the second input terminal is connected to the output terminal of the second detection filter; a fourth addition-subtraction combination module, wherein the first input terminal is connected to the output terminal of the first addition-subtraction combination module, and the second input terminal is connected to the output terminal of the third detection filter; a fifth addition-subtraction combination module, wherein the first input terminal is connected to the output terminal of the first addition-subtraction combination module, and the second input terminal is connected to the output terminal of the fourth detection filter; a first detection filter, an input end of which is connected to the output end of the second addition-subtraction combination module; a second detection filter, an input end of which is connected to the output end of the third addition-subtraction combination module; a third detection filter, an input end of which is connected to the output end of the fourth addition-subtraction combination module; and The fourth detection filter has an input end connected to the output end of the fifth addition-subtraction combination module.

Images