High-precision rotor position fitting method for permanent magnet synchronous motor based on Hall sensor

Abstract

The present invention discloses a high-precision rotor position fitting method for a permanent magnet synchronous motor based on a Hall sensor, which relates to the field of motor control technology. The present invention comprises: firstly collecting three Hall signals, and using the traditional average speed method to obtain a preliminary rotor position θ H Then, read the three-phase stator current and voltage of the motor, and use the flux voltage model to obtain the preliminary stator flux by pure integration. At the moment of the Hall signal jump, the flux is corrected by the flux current model. Then, the flux and the rotor position θ are used to calculate the stator flux. H , get the current estimated value i * , compared with the actual current value to obtain Δi; finally, according to the relationship between magnetic flux, current and rotor position, the rotor position θ is obtained. H The estimated error Δθ is compensated to obtain the final rotor position θ. The present invention solves the problem of low rotor position accuracy caused by the low resolution characteristics of the Hall sensor and the integral drift of the pure integral calculation of the flux linkage, thereby improving the performance and reliability of the permanent magnet synchronous motor control system.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a high-precision rotor position fitting method for a permanent magnet synchronous motor based on a Hall sensor. Background Art

[0002] In vector control of permanent magnet synchronous motor control systems, precise rotor position and speed information is required to ensure control performance. While installing high-precision position sensors such as photoelectric encoders and resolvers on the end of the motor's rotor shaft can ensure accurate motor control, this approach also presents challenges such as reduced system reliability and increased control costs. Switched Hall sensors offer advantages such as simple installation, low cost, and high resistance to operating environments, making them suitable for detecting rotor position in permanent magnet synchronous motors. However, within one electrical cycle, three Hall sensors can only provide six discrete position signals, making them unsuitable for direct use in permanent magnet synchronous motor vector control systems. Sensorless rotor position acquisition uses magnetic flux information, avoiding the low signal-to-noise ratio of conventional back-EMF calculations at low speeds. Furthermore, the pure integral method for calculating magnetic flux can lead to magnetic flux integral drift and initial value offset.

[0003] Therefore, using six discrete Hall signals and the permanent magnet synchronous motor flux model to obtain high-precision rotor position information is the key to the permanent magnet synchronous motor vector control technology based on Hall sensors. To this end, we propose a high-precision rotor position fitting method for permanent magnet synchronous motor based on Hall sensors. Summary of the Invention

[0004] The present invention aims to provide a high-precision rotor position fitting method for a permanent magnet synchronous motor based on a Hall sensor, which is used to solve the problems of low rotor position accuracy and estimation lag caused by the low resolution characteristics of the switch Hall sensor and the initial value bias and integral drift caused by the use of pure integration to calculate the flux.

[0005] A high-precision rotor position fitting method for a permanent magnet synchronous motor based on a switch Hall position sensor is described in the following steps:

[0006] Collect the signals Hall_A, Hall_B, and Hall_C output by three Hall sensors installed on the stator of the permanent magnet synchronous motor to obtain a series of discrete electrical angle values ​​θ n , and according to the obtained electrical angle value θ n The preliminary rotor position θ is calculated using the average speed method H and speed ω H ;

[0007] Collect the stator current and voltage of the permanent magnet synchronous motor and establish the voltage model and current model of the magnetic flux of the permanent magnet synchronous motor in a stationary two-phase coordinate system;

[0008] The preliminary stator flux is calculated using the pure integration method in the established flux voltage model. Then, it is determined whether the Hall interval of this PWM cycle has changed. If so, the stator flux is calculated using the current model of the flux, and the stator flux obtained by the pure integration method in the voltage model is corrected and updated.

[0009] The rotor position θ is obtained based on the corrected stator flux and average speed method. H , the current estimation value is calculated by the current model of the flux linkage, and the current estimation error Δi is obtained by comparing the actual current with the current estimation value;

[0010] According to the binary function relationship between the permanent magnet synchronous motor flux, stator current and rotor position, the rotor estimation error Δθ of the rotor position obtained under the average speed method is calculated. After compensating this error, the rotor position fitted by the flux observer combined with the Hall signal method is finally obtained.

[0011] Furthermore, according to the relationship between the Hall sensor signal and the rotor position, a 360° electrical cycle is divided into six Hall intervals H=4*Hall_A+2*Hall_B+Hall_C.

[0012] Furthermore, the average speed method is used to calculate the preliminary rotor position θ H , the specific steps are as follows:

[0013] (1) The average speed calculated using the time taken by the rotor to pass through the previous Hall interval is used as the average speed of the rotor in the current Hall interval;

[0014] Expand the Hall interval and calculate the average speed of the rotor in the previous Hall interval as follows:

[0015]

[0016] Where, T (n-1) is the time it takes for the rotor to pass through the previous Hall interval, ω (n-1) is the average speed of the rotor in the previous Hall interval;

[0017] (2) In digital control systems, when the angle captured by the Hall capture timer is transferred to the control operation cycle, there will be a Δt H The delay error makes it impossible to obtain the accurate six discrete Hall angles, and thus cannot accurately perform subsequent calculations. The present invention uses the Hall capture timer to record the time t1 when the Hall signal is captured, and the time t2 when the PWM cycle calculation starts. The average speed method is used as follows to perform digital delay compensation for the six discrete Hall angles:

[0018] θ' n =θ n+(t2-t1)*ω(n-1)

[0019] The continuous rotor angle formula fitted using the average speed method is:

[0020] θ H =θ' n +ΔT*ω(n-1)

[0021] Among them, ΔT is the running time of the rotor in the current Hall interval, θ H Estimated rotor position using the average speed method.

[0022] Furthermore, the voltage model and current model of the magnetic flux of the permanent magnet synchronous motor in a stationary two-phase coordinate system are established. The specific steps are as follows:

[0023] (1) Establishing a mathematical model of the surface-mounted permanent magnet synchronous motor in a two-phase stationary coordinate system: Based on the collected three-phase current of the motor, the current in the two-phase stationary coordinate system is obtained through Clark transformation. Based on the current, phase resistance and phase inductance of the motor in the two-phase stationary coordinate system, the voltage mathematical model of the permanent magnet synchronous motor in the two-phase stationary coordinate system is established as follows:

[0024]

[0025] Where u α 、u β are the α-axis and β-axis voltages in the stationary two-phase coordinate system; R s is the stator phase resistance; i α 、i β are the α-axis and β-axis currents in the stationary two-phase coordinate system; ψ α , ψ β They are the stator flux of α-axis and β-axis in the stationary two-phase coordinate system respectively.

[0026] (2) Furthermore, the flux linkage voltage model of the permanent magnet synchronous motor in the two-phase stationary coordinate system is obtained as follows:

[0027]

[0028] (3) The flux linkage current model of the permanent magnet synchronous motor in the two-phase stationary coordinate system is established as follows:

[0029]

[0030] Among them, ψ f is the permanent magnet flux of the motor rotor.

[0031] Furthermore, the collected three-phase current of the motor is transformed by Clark to obtain the current in the two-phase stationary coordinate system. The specific method is as follows:

[0032]

[0033] Where i a 、i b 、i c is the collected three-phase current value, i α 、i β is the current value in the converted two-phase stationary coordinate system.

[0034] Furthermore, the initial value of the stator flux calculated by the pure integration method in the flux voltage model is:

[0035]

[0036] According to the flux voltage model, the stator flux is obtained by pure integration method:

[0037]

[0038] At the moment when the Hall signal jumps, the stator flux is corrected and updated according to the flux current model.

[0039] Furthermore, the current estimation value is calculated by the current model of the flux linkage. The specific steps are as follows:

[0040] According to the current model of magnetic flux, the rotor position θ H And the stator flux information, the current estimate can be calculated, and the implementation formula is as follows:

[0041]

[0042] Comparing the difference between the actual current value and the current estimated value, the current estimation error value Δi is obtained as:

[0043] Δi=ii * .

[0044] Furthermore, the calculation method of the rotor estimation error Δθ is as follows:

[0045] Let θ = θ Hall +Δθ, then θ is in θ Hall The Taylor expansions of sinθ and cosθ are:

[0046]

[0047] Substituting Δi into the flux current model, we get:

[0048] LΔi α =ψ f (cosθ H -cosθ)

[0049] LΔi β =ψ f (sinθH -sinθ)

[0050] Substituting the above Taylor expansion into the above formula, and performing the following operations on both sides simultaneously, we can obtain:

[0051]

[0052] Finally, Δθ is obtained as follows:

[0053] Δθ=(LΔi a sinθ H -LΔi β cosθ H ) / ψ f

[0054] Compensating this error to the angle estimated by the average velocity method yields the final rotor observation angle:

[0055] θ=θ H +Δθ

[0056] Where Δθ is the rotor estimation error and θ is the final rotor observation angle.

[0057] Compared with the prior art, the present invention has the following advantages:

[0058] (1) Compared with the traditional average speed method that uses low-resolution discrete Hall signals and has large estimation errors and hysteresis, the present invention first uses the average speed method to solve the delay problem of Hall signals in digital control systems, and combines the low-resolution rotor position information provided by the Hall position sensor with the permanent magnet synchronous motor flux observer to obtain high-precision rotor position information in each pulse width modulation (PWM) cycle, thereby improving the control performance of the motor;

[0059] (2) Compared with the traditional position sensorless method of estimating the rotor position of a permanent magnet motor using back-electromotive force information, using magnetic flux information to obtain the rotor can avoid the influence of the low signal-to-noise ratio of back-electromotive force at low speeds; at the same time, using accurate discrete position information, the magnetic flux can be corrected in time, solving the problems of initial value bias and integral drift caused by using pure integral to calculate the magnetic flux. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a schematic diagram of the process of the technical solution in the present invention;

[0061] Figure 2 This is a diagram showing the corresponding relationship between the Hall sensor signal, Hall interval, and discrete angle in the present invention;

[0062] Figure 3 This is a schematic diagram of the traditional average speed method;

[0063] Figure 4This is a specific schematic diagram of the digital delay compensation for discrete Hall angles in the present invention;

[0064] Figure 5 It is a structural block diagram for the specific implementation of the flux Hall method;

[0065] Figure 6 This is a vector control framework diagram based on a switch Hall position sensor of the present invention;

[0066] Figure 7 Comparison of rotor angle waveform and angle error between the traditional average speed method and the flux Hall method;

[0067] Figure 8 Comparison of rotor flux obtained by pure integral flux method and flux Hall method;

[0068] Figure 9 Comparison of angle error estimation between pure integral flux method and flux Hall method. DETAILED DESCRIPTION

[0069] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0070] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0071] like Figure 1 As shown, the embodiment of the present invention provides a method for estimating the rotor position and speed of a permanent magnet synchronous motor based on a Hall sensor, and the specific steps are as follows:

[0072] S1. The three switch Hall sensors will output different high and low level signals according to the change of magnetic induction intensity during the movement of the permanent magnet synchronous motor rotor. The signals Hall_A, Hall_B, and Hall_C output by the Hall sensors installed on the stator of the permanent magnet synchronous motor are collected. According to the relationship between the Hall signal and the rotor position, a 360° electrical cycle is divided into six Hall intervals H=4*Hall_A+2*Hall_B+Hall_C. At the same time, the accurate discrete electrical angle values ​​at the switching points of the Hall intervals are obtained. The discrete electrical angle values ​​at the switching points are specifically 30°, 90°, 150°, 210°, 270°, and 330° respectively.

[0073] S1.1、 Figure 3 As shown, the average speed calculated using the time taken by the rotor to pass through the previous Hall interval is used as the average speed of the rotor in the current Hall interval.

[0074]

[0075] Where, T (n-1)is the time it takes for the rotor to pass through the previous Hall interval, ω (n-1) is the average speed of the rotor in the previous Hall interval.

[0076] S1.2, such as Figure 4 As shown, when the Hall signal jumps, there will be a Δt when the angle captured by the capture timer is passed to the control PWM operation cycle. H The delay error prevents accurate determination of the six discrete Hall effect angles, making subsequent calculations inaccurate. This invention uses a Hall effect capture timer to record time t1 when the Hall effect signal is captured and time t2 when the PWM cycle calculation begins. The average velocity method, as shown in the following equation, then performs digital delay compensation for the six discrete Hall effect angles.

[0077] θ' n =θ n +(t2-t1)*ω(n-1)

[0078] In the Hall range, the continuous rotor angle formula fitted by the average speed method is:

[0079] θ H =θ' n +ΔT*ω(n-1)

[0080] Among them, ΔT is the running time of the rotor in the current Hall interval, θ H The continuous rotor position is obtained for the average speed method as the input of the flux observer.

[0081] In particular, to ensure that the estimated rotor angle still has a 60° resolution when the motor speed changes suddenly, θ H To limit the amplitude, the formula is as follows:

[0082]

[0083] S2. Establish a stationary two-phase coordinate system for the permanent magnet synchronous motor, collect the stator current and voltage of the permanent magnet synchronous motor, and establish a voltage model and a current model of the magnetic flux of the permanent magnet synchronous motor in the stationary two-phase coordinate system. The specific method is as follows:

[0084] S2.1. Establish a mathematical model of the flux linkage of a permanent magnet synchronous motor in a stationary two-phase coordinate system:

[0085] The three-phase stator current of the permanent magnet synchronous motor is collected and the current in the two-phase stationary coordinate system is obtained through Clark transformation, as shown below:

[0086]

[0087] Where i a 、i b 、i cis the collected three-phase stator current value, i α 、i β is the stator current value in the transformed two-phase stationary coordinate system.

[0088] S2.2. Based on the current, phase resistance, and phase inductance of the motor in the two-phase stationary coordinate system, the voltage mathematical model of the permanent magnet synchronous motor in the two-phase stationary coordinate system is obtained as follows:

[0089]

[0090] Where u α 、u β are the α-axis and β-axis voltages in the stationary two-phase coordinate system; R s is the stator phase resistance; i α 、i β are the α-axis and β-axis currents in the stationary two-phase coordinate system; ψ α , ψ β They are the stator flux of α-axis and β-axis in the stationary two-phase coordinate system respectively.

[0091] S2.3. Furthermore, the flux linkage voltage model of the permanent magnet synchronous motor in the two-phase stationary coordinate system is obtained as follows:

[0092]

[0093] S2.4. The flux linkage current model of the permanent magnet synchronous motor in the two-phase stationary coordinate system is obtained as follows:

[0094]

[0095] S3, such as Figure 5 As shown, the preliminary stator flux is calculated according to the pure integration method in the flux voltage model established in S2.3, and then it is determined whether the Hall interval number in the current PWM cycle is consistent with the Hall interval number in the previous PWM cycle. If they are consistent, the stator flux is calculated according to the voltage model of the permanent magnet synchronous motor flux using the pure integration method; if they are inconsistent, the stator flux is calculated according to the current model of the flux, that is, the stator flux calculated by the pure integration method under the voltage model is corrected.

[0096] It should be noted that when using the pure integration method in the flux voltage model to calculate the stator flux, it is necessary to first calculate the initial value of the stator flux using the flux current model. The angle is set to the middle angle of the current Hall interval. The initial value of the stator flux is:

[0097]

[0098] According to the flux voltage model, the stator flux is obtained by pure integration method:

[0099]

[0100] At the moment when the Hall signal jumps, the stator flux is corrected and updated according to the flux current model.

[0101] S4, rotor position θ obtained based on the corrected stator flux and average speed method H , the current estimation value is calculated by the current model of the flux linkage, and the current estimation error Δi is obtained by comparing the actual current with the current estimation value. The specific steps are as follows:

[0102] S4.1. From the current model of the flux linkage, input the angle θ under the average velocity method in S2. H The stator flux information obtained by S3 is used to output the estimated current value. The implementation formula is as follows:

[0103]

[0104] Compare the difference between the actual current value and the estimated current value to obtain the estimated error value of the current in the two-phase stationary coordinate system:

[0105]

[0106] S5, the stator flux of the permanent magnet synchronous motor is a binary function of the rotor angle and the stator current. Therefore, the rotor estimation error under the average speed method can be calculated by the stator flux obtained by S3 and the current estimation error obtained by S4, as follows:

[0107] Let θ = θ Hall +Δθ, then θ is in θ Hall The Taylor expansions of sinθ and cosθ are:

[0108]

[0109]

[0110] Substituting Δi into the flux current model, we get:

[0111] LΔi α =ψ f (cosθ H -cosθ)

[0112] LΔi β =ψ f (sinθ H -sinθ)

[0113] Substituting the above Taylor expansion into the above formula, and performing the following operations on both sides simultaneously, we can obtain:

[0114]

[0115] Finally, Δθ is obtained as follows:

[0116] Δθ=(LΔi a sinθ H -LΔi β cosθ H ) / ψ f

[0117] Compensating this error to the angle estimated by the average speed method yields the final estimated rotor position (observation angle):

[0118] θ=θ H +Δθ

[0119] Where Δθ is the rotor estimation error and θ is the final estimated rotor position.

[0120] In summary, if Figure 6-9 As shown, the permanent magnet synchronous motor rotor position angle calculation method using Hall signals combined with a flux observer in the present invention has the following technical effects compared with the prior art: the motor rotor position angle acquisition method designed by the present invention has a clear idea, a simple and easy algorithm, and can obtain high-precision rotor position information in each PWM cycle, solving the problems of rotor position estimation lag and large error in the traditional average speed method and initial value bias and integral drift in calculating flux using the pure integration method, thereby realizing high-performance vector control of the permanent magnet synchronous motor.

[0121] 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.

[0122] For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. When an element is referred to as being "assembled on", "installed on", "fixed on" or "set on" another element, it can be directly on the other element or there can be a central element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there can be a central element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment.

[0123] 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.

[0124] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Claims

1. A high-precision rotor position fitting method for a permanent magnet synchronous motor based on a Hall sensor, characterized by: Collect the signals Hall_A, Hall_B, and Hall_C output by three Hall sensors installed on the stator of the permanent magnet synchronous motor to obtain a series of discrete electrical angle values ​​θ n , and the preliminary rotor position θ is calculated based on the obtained electrical angle value θn using the average speed method H and speed ω H ; Collect the three-phase stator current and voltage of the permanent magnet synchronous motor and establish the voltage model and current model of the magnetic flux of the permanent magnet synchronous motor in a stationary two-phase coordinate system; The preliminary stator flux is calculated using the pure integration method in the established flux voltage model. Then, it is determined whether the Hall interval of this PWM cycle has changed. If so, the stator flux is calculated using the current model of the flux, and the stator flux obtained by the pure integration method in the voltage model is corrected and updated. The rotor position θ is obtained based on the corrected stator flux and average speed method. H , the current estimation value is calculated by the current model of the flux linkage, and the current estimation error Δi is obtained by comparing the actual current value with the current estimation value; Based on the binary functional relationship between the permanent magnet synchronous motor flux, stator current, and rotor position, the rotor estimation error Δθ of the rotor position obtained using the average speed method is calculated. After compensating for this error, the rotor position θ fitted by the flux observer combined with the Hall signal method can be obtained. The calculation method of the rotor estimation error Δθ is as follows: Let θ = θ Hall +Δθ, then θ is in θ Hall The Taylor expansions of sinθ and cosθ are: Substituting Δi into the flux current model, we get: LΔi α =ψ f (cosθ H -cosθ) LΔi β =ψ f (synth) H -sinθ) Substituting the above Taylor expansion into the above formula, and performing the following operations on both sides simultaneously, we can obtain: Finally, Δθ is obtained as follows: Δθ=(LΔi a sinth H -LΔi β cosθ H ) / ψ f Compensating this error to the angle estimated by the average velocity method yields the final rotor observation angle: θ=θ H +Δθ Where Δθ is the rotor estimation error and θ is the final rotor observation angle.

2. The high-precision rotor position fitting method for a permanent magnet synchronous motor based on a Hall sensor according to claim 1, characterized in that: According to the relationship between the Hall sensor signal and the rotor position, a 360° electrical cycle is divided into six Hall intervals H=4*Hall_A+2*Hall_B+Hall_C.

3. The high-precision rotor position fitting method for a permanent magnet synchronous motor based on a Hall sensor according to claim 2, characterized in that: The preliminary rotor position θ is calculated using the average speed method H , the specific steps are as follows: (1) The average speed calculated using the time taken by the rotor to pass through the previous Hall interval is used as the average speed of the rotor in the current Hall interval; Expand the Hall interval and calculate the average speed of the rotor in the previous Hall interval as follows: Among them, T (n-1) is the time it takes for the rotor to pass through the previous Hall interval, ω (n-1) is the average speed of the rotor in the previous Hall interval; (2) In digital control systems, when the angle captured by the Hall capture timer is transferred to the control operation cycle, there will be a Δt H The delay error makes it impossible to obtain the accurate six discrete Hall angles, and thus cannot accurately perform subsequent calculations. By using the Hall capture timer to record the time t1 when the Hall signal is captured, and the time t2 when the PWM cycle calculation starts, the average speed method is used as follows to perform digital delay compensation for the six discrete Hall angles: I will n =θ n +(t2-t1)*ω(n-1) The continuous rotor angle formula fitted using the average speed method is: i H =θ' n +ΔT*ω(n-1) Where ΔT is the running time of the rotor in the current Hall interval, θ H Estimated rotor position using the average speed method.

4. The high-precision rotor position fitting method for a permanent magnet synchronous motor based on a Hall sensor according to claim 1, characterized in that: Establish the voltage model and current model of the magnetic flux of the permanent magnet synchronous motor in a stationary two-phase coordinate system. The specific steps are as follows: (1) Establishing a mathematical model of the surface-mounted permanent magnet synchronous motor in a two-phase stationary coordinate system: Based on the collected three-phase current of the motor, the current in the two-phase stationary coordinate system is obtained through Clark transformation. Based on the current, phase resistance and phase inductance of the motor in the two-phase stationary coordinate system, the voltage mathematical model of the permanent magnet synchronous motor in the two-phase stationary coordinate system is established as follows: Where u α 、u β are the α-axis and β-axis voltages in the stationary two-phase coordinate system; R s is the stator phase resistance; i α 、i β are the α-axis and β-axis currents in the stationary two-phase coordinate system; ψ α , ψ β are the stator flux of α-axis and β-axis in the stationary two-phase coordinate system respectively; (2) Furthermore, the flux linkage voltage model of the permanent magnet synchronous motor in the two-phase stationary coordinate system is obtained as follows: (3) The flux linkage current model of the permanent magnet synchronous motor in the two-phase stationary coordinate system is established as follows: Among them, ψ f is the permanent magnet flux of the motor rotor.

5. The high-precision rotor position fitting method for a permanent magnet synchronous motor based on a Hall sensor according to claim 4, characterized in that: The collected three-phase current of the motor is transformed by Clark to obtain the current in the two-phase stationary coordinate system. The specific method is as follows: Where i a 、i b 、i c is the collected three-phase stator current value, i α 、i β is the stator current value in the transformed two-phase stationary coordinate system.

6. The high-precision rotor position fitting method for a permanent magnet synchronous motor based on a Hall sensor according to claim 4, characterized in that: The initial value of stator flux calculated by pure integration method in flux voltage model is: According to the flux voltage model, the stator flux is obtained by pure integration method: At the moment when the Hall signal jumps, the stator flux is corrected and updated according to the flux current model.

7. The high-precision rotor position fitting method for a permanent magnet synchronous motor based on a Hall sensor according to claim 5, characterized in that: The current estimate is calculated using the current model of the flux linkage. The specific steps are as follows: According to the current model of magnetic flux, the rotor position θ H And the stator flux information, the current estimate can be calculated, and the implementation formula is as follows: Comparing the difference between the actual current value and the current estimated value, the current estimation error value Δi is obtained as: Δi=i-i * 。

Images