Position correction method and device based on Hall sensor, equipment and medium

Abstract

The invention provides a position correction method and device based on a Hall sensor, equipment and a medium. The position correction method comprises the following steps: controlling a permanent magnet synchronous motor to run to a first state; the method comprises the following steps: under the condition that the permanent magnet synchronous motor runs to a first state, acquiring six time intervals # imgabs0 #, # imgabs1 #, # imgabs2 #, # imgabs3 #, # imgabs4 # and # imgabs5 # corresponding to a rising edge and a falling edge of a Hall sensor; the installation error of the Hall sensor is calculated according to the six time intervals; performing angle and speed correction compensation in vector control of the permanent magnet synchronous motor according to the installation error; wherein the first state is that the motion state of the permanent magnet synchronous motor is a constant-speed rotation state. The technical problem that high-performance control of the permanent magnet synchronous motor is not facilitated due to the fact that deviation of a Hall sensor is not considered in calculation of the rotor position in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of power electronics technology, and in particular, to a position correction method for a permanent magnet synchronous motor based on a Hall sensor, a position correction device for a permanent magnet synchronous motor based on a Hall sensor, an electronic device, and a readable storage medium. Background Art

[0002] Currently, most of the existing permanent magnet synchronous motor position vector control systems use high-resolution position sensors coaxially connected to the motor rotor to obtain rotor position and speed information. However, this type of sensor has high requirements for the working environment, and the coaxial connection with the rotor increases the volume and cost of the motor. Due to the advantages of simple installation, low cost, small size, and high resistance to the working environment of Hall sensors, using Hall sensors to detect rotor position and speed information can effectively reduce the cost of the control system while ensuring good operating performance of the motor.

[0003] Ideally, the interval between two adjacent Hall level states is 60° electrical angle. In actual situations, affected by the output characteristic offset of Hall elements and installation process limitations (such as the installation error of permanent magnet chips or the installation error of Hall sensors), the signal output by the Hall position sensor often has a certain deviation from the ideal position signal. In the prior art, the interpolation method is used to calculate the rotor position, and this method does not consider the deviation of Hall signals, which will cause periodic fluctuations in the motor angle calculation, thereby causing fluctuations in the motor speed and being unfavorable for the high-performance control of the permanent magnet synchronous motor. Summary of the Invention

[0004] The present invention solves the technical problem that the calculation of the rotor position in the prior art does not consider the deviation of the Hall sensor, which is unfavorable for the high-performance control of the permanent magnet synchronous motor.

[0005] To solve the above problems, the present invention provides a position correction method for a permanent magnet synchronous motor based on a Hall sensor. The position correction method includes: controlling the permanent magnet synchronous motor to operate in a first state; when the permanent magnet synchronous motor operates in the first state, obtaining six time intervals corresponding to the rising edge and falling edge of the Hall sensor , , , , , ; calculating the installation error of the Hall sensor according to the six time intervals; correcting and compensating the angle and speed in the vector control of the permanent magnet synchronous motor according to the installation error; wherein the first state is that the motion state of the permanent magnet synchronous motor is in a uniform rotation state.

[0006] Compared with the prior art, the technical effects achieved by adopting this technical solution: The present invention provides a method for correcting the rotor position of vector control of a permanent magnet synchronous motor with a switched Hall sensor. By calculating the Hall installation angle error (i.e., installation error) offline or online, the rotational speed and rotor position information of the permanent magnet synchronous motor can be obtained, avoiding angle calculation errors and rotational speed calculation errors caused by Hall sensor installation errors.

[0007] In an example of the present invention, controlling the permanent magnet synchronous motor to operate in a first state includes: setting the constant current-to-frequency ratio of the motor; controlling the operating frequency of the permanent magnet synchronous motor according to the constant current-to-frequency ratio of the motor; controlling the permanent magnet synchronous motor to operate at the operating frequency so that the permanent magnet synchronous motor operates in the first state; wherein, the constant current-to-frequency ratio of the motor is the ratio of current to frequency.

[0008] Compared with the prior art, the technical effects achieved by adopting this technical solution: The position correction method includes a speed control function and a Hall sensor installation error calculation function. The speed control function is controlled by the constant current-to-frequency ratio (IF) of the motor, setting an appropriate current-to-frequency ratio, directly controlling the torque current of the permanent magnet synchronous motor and the speed of the motor, and running the permanent magnet synchronous motor to the set constant speed operating frequency. At this point, in the constant current-to-frequency ratio (IF) control, the speed is open-loop operation and the current is closed-loop operation. The current closed-loop improves the stability of the output torque of the permanent magnet synchronous motor.

[0009] In an example of the present invention, calculating the installation error of the Hall sensor according to six time intervals includes: calculating the angular positions of six states of the Hall sensor according to six time intervals, and the calculation formula for the angular position is: ; wherein, is the rotor position angle of the nth interval, is the electrical angular frequency of the permanent magnet synchronous motor, is the time interval between the rising edge and the falling edge of the Hall level in the nth interval, and n = 1, 2, 3, 4, 5, 6.

[0010] Compared with the prior art, the technical effects achieved by adopting this technical solution: In the present invention, by identifying the installation error of the Hall sensor offline or online, the angle calculation accuracy of the permanent magnet synchronous motor using the Hall sensor can be improved, and the periodic torque ripple during the vector control operation of the switched Hall type permanent magnet synchronous motor can be reduced.

[0011] In an example of the present invention, compensating for the angle and speed in the vector control of the permanent magnet synchronous motor according to the installation error includes: calculating the compensation angle and compensation speed according to the installation error respectively as: , wherein, is the angle calculated offline in the previous Hall level interval, is the time for the motor to rotate through the previous Hall level interval, is the average electrical angular velocity of the previous Hall level interval; is the current Hall level angle, is the angle calculated offline for the next Hall level interval, is the time for the motor to rotate in the current Hall level interval is the estimated angle for the current Hall level interval; angle and speed correction compensation in the vector control of a permanent magnet synchronous motor through the compensation angle and compensation speed; where, the current Hall level interval, i - 1 is the previous Hall level interval, and i + 1 is the next Hall level interval.

[0012] In an example of the present invention, when the permanent magnet synchronous motor operates in the first state, six time intervals corresponding to the rising edge and falling edge of the Hall sensor are obtained 、 、 、 、 、 After that, the position correction method further includes: judging whether there is an installation error of the Hall sensor according to the six time intervals; judging that there is an installation error of the Hall sensor when the six time intervals are not completely consistent; judging that there is no installation error of the Hall sensor when the six time intervals are completely consistent.

[0013] Compared with the prior art, the technical effect achieved by adopting this technical solution: it is possible to judge whether there is an installation error of the Hall sensor through the six time intervals: when the six time intervals are not completely consistent, it is judged that there is an installation error of the Hall sensor, and subsequent steps are required to calculate the installation error of the Hall sensor, and angle and speed correction compensation in the vector control of the permanent magnet synchronous motor are carried out according to the installation error.

[0014] In an example of the present invention, six time intervals corresponding to the rising edge and falling edge of the Hall sensor are obtained through an oscilloscope device 、 、 、 、 、 。

[0015] Compared with the prior art, the technical effect achieved by adopting this technical solution: offline installation error detection uses an oscilloscope device to detect the level state of the Hall signal, and offline detection of six Hall level rising edge and falling edge time intervals within one electrical angle period of the permanent magnet synchronous motor 、 、 、 、 、 。

[0016] In an example of the present invention, six time intervals corresponding to the rising edge and falling edge of the Hall sensor are obtained by a microprocessor 、 、 、 、 、 。

[0017] Compared with the prior art, the technical effects achieved by adopting this technical solution: Online installation error detection uses a microprocessor (MCU) to detect the level state of the Hall signal. The online installation error detection method uses the timer capture function of the microprocessor (MCU) to capture each edge transition of the Hall signal, and uses the timing function of the timer to obtain the time intervals of six different intervals of the Hall due to installation deviation 、 、 、 、 、 。

[0018] On the other hand, an embodiment of the present invention further provides a position correction device for a permanent magnet synchronous motor based on a Hall sensor, including: a control module for controlling the permanent magnet synchronous motor to operate to a first state; an acquisition module for acquiring six time intervals corresponding to the rising edge and falling edge of the Hall sensor when the permanent magnet synchronous motor operates to the first state 、 、 、 、 、 ; a calculation module for calculating the installation error of the Hall sensor according to the six time intervals; a compensation module for correcting and compensating the angle and speed in the vector control of the permanent magnet synchronous motor according to the installation error; wherein, the first state is that the motion state of the permanent magnet synchronous motor is in a uniform rotation state

[0019] Compared with the prior art, the technical effects achieved by adopting this technical solution: The position correction device for a permanent magnet synchronous motor based on a Hall sensor in this embodiment is used to implement the position correction method for a permanent magnet synchronous motor based on a Hall sensor in any embodiment of the present invention. Therefore, it has all the beneficial effects of the position correction method for a permanent magnet synchronous motor based on a Hall sensor in any embodiment of the present invention, which will not be elaborated here

[0020] In another aspect, an embodiment of the present invention further provides an electronic device, which includes: a processor, a memory, and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, it implements the steps of the position correction method of the permanent magnet synchronous motor based on the Hall sensor in any one of the above embodiments.

[0021] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: The electronic device in this embodiment operates according to the position correction method of the permanent magnet synchronous motor based on the Hall sensor in any one of the embodiments of the present invention. Therefore, it has all the beneficial effects of the position correction method of the permanent magnet synchronous motor based on the Hall sensor in any one of the embodiments of the present invention, which will not be elaborated here.

[0022] In still another aspect, an embodiment of the present invention further provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by the processor, it implements the steps of the position correction method of the permanent magnet synchronous motor based on the Hall sensor in any one of the above embodiments.

[0023] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: The readable storage medium in this embodiment is used to store the position correction method of the permanent magnet synchronous motor based on the Hall sensor in any one of the embodiments of the present invention. Therefore, it has all the beneficial effects of the position correction method of the permanent magnet synchronous motor based on the Hall sensor in any one of the embodiments of the present invention, which will not be elaborated here.

[0024] After adopting the technical solution of the present invention, the following technical effects can be achieved: (1) The present invention provides a vector control rotor position correction method for a permanent magnet synchronous motor with a switching Hall sensor. By calculating the Hall installation angle error (i.e., the installation error) offline or online, the rotational speed and rotor position information of the permanent magnet synchronous motor can be obtained, avoiding angle calculation errors and rotational speed calculation errors caused by Hall sensor installation errors. (2) In the constant current frequency ratio (IF) control of the motor, the speed operates in open loop and the current operates in closed loop. The current closed loop improves the stability of the output torque of the permanent magnet synchronous motor. (3) By identifying the installation error of the Hall sensor offline or online, the angle calculation accuracy of the permanent magnet synchronous motor using the Hall sensor can be improved, and the periodic torque ripple during the vector control operation of the switching Hall type permanent magnet synchronous motor can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a flowchart of a position correction method for a permanent magnet synchronous motor based on a Hall sensor provided in Embodiment 1 of the present invention. Figure 2Schematic diagram of the position when the installation of the Hall sensor and the permanent magnet synchronous motor is strictly symmetrical; Figure 3 Schematic waveform diagram of the electrical signal of the Hall sensor when the installation of the Hall sensor and the permanent magnet synchronous motor is strictly symmetrical; Figure 4 Schematic diagram of the principle of position and speed calculation when the installation of the Hall sensor and the permanent magnet synchronous motor is strictly symmetrical; Figure 5 Schematic diagram of the position when there is an installation error between the Hall sensor and the permanent magnet synchronous motor; Figure 6 Schematic waveform diagram of the electrical signal of the Hall sensor when there is an installation error between the Hall sensor and the permanent magnet synchronous motor; Figure 7 Control block diagram of the constant current frequency ratio (IF) of the permanent magnet synchronous motor; Figure 8 Schematic diagram of correction when there is an installation error in the Hall sensor; Figure 9 Structural schematic block diagram of a position correction device for a permanent magnet synchronous motor based on a Hall sensor provided by the second embodiment of the present invention; Figure 10 Composition block diagram of an electronic device provided by the third embodiment of the present invention; Figure 11 Structural schematic diagram of a readable storage medium provided by the fourth embodiment of the present invention.

[0026] Explanation of reference numerals: 100 - Position correction device for a permanent magnet synchronous motor based on a Hall sensor; 101 - Control module; 102 - Acquisition module; 103 - Calculation module; 104 - Compensation module; 200 - Electronic device; 210 - Memory; 211 - Computer program; 220 - Processor; 300 - Readable storage medium; 310 - Computer executable instructions. Detailed implementation manners

[0027] In order to make the above objects, features, and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0028]

Embodiment 1

[0029] Step S110: Set the constant current frequency ratio of the motor; Step S120: Control the operating frequency of the permanent magnet synchronous motor according to the constant current frequency ratio of the motor; Step S130: Control the permanent magnet synchronous motor to operate at the operating frequency so that the permanent magnet synchronous motor operates to the first state; wherein, the constant current frequency ratio of the motor is the ratio of current to frequency.

[0030] In a specific embodiment, the first state is that the permanent magnet synchronous motor rotates uniformly at the operating frequency and the permanent magnet synchronous motor is controlled to the first state. Only in the first state can the subsequent method steps be carried out. The position correction method of the present application includes a speed control function and a calculation function for the installation error of the Hall sensor. The speed control function is controlled by the constant current frequency ratio (IF) of the motor. By setting an appropriate ratio of current to frequency, the torque current of the permanent magnet synchronous motor and the speed of the motor are directly controlled, and the permanent magnet synchronous motor is run to the set uniform operating frequency At this point, in the control of the constant current frequency ratio (IF) of the motor, the speed is in open-loop operation and the current is in closed-loop operation. The current closed-loop improves the stability of the output torque of the permanent magnet synchronous motor.

[0031] Further, Step S200: When the permanent magnet synchronous motor operates to the first state, obtain six time intervals corresponding to the rising edge and the falling edge of the Hall sensor , , , , , ; Step S300: Calculate the installation error of the Hall sensor according to the six time intervals; wherein, Step S300 includes: calculating the angular positions of the six states of the Hall sensor according to the six time intervals, and the calculation formula for the angular position is: ; wherein, is the rotor position angle of the nth interval, is the electrical angular frequency of the permanent magnet synchronous motor, is the time interval between the rising edge and the falling edge of the Hall level in the nth interval, and n = 1, 2, 3, 4, 5, 6.

[0032] Specifically, when the permanent magnet synchronous motor operates in the first state, the installation error of the Hall sensor is calculated offline or online. The installation error can be used to correct and compensate the angle and speed in the vector control of the permanent magnet synchronous motor in subsequent steps. The specific method for calculating the installation error is as follows: when the permanent magnet synchronous motor operates in the first state, six time intervals corresponding to the rising edge and falling edge of the Hall sensor are preferentially obtained , , , , , , and the installation error of the Hall sensor can be calculated based on the six time intervals. In the present invention, by identifying the installation angle error of the Hall sensor offline or online, the angle calculation accuracy of the permanent magnet synchronous motor using the Hall sensor can be improved, and the periodic torque ripple during the vector control operation of the switched Hall type permanent magnet synchronous motor can be reduced.

[0033] See Figures 2 - 4 , Figure 2 , which is a schematic position diagram when the installation of the Hall sensor and the permanent magnet synchronous motor is strictly symmetric. When the installation of the Hall sensor and the permanent magnet synchronous motor is strictly symmetric, the three Hall devices are 120° apart, and HALL_A, HALL_B, and HALL_C are the three Hall sensor electrical signals of the Hall sensor; when the installation of the Hall sensor and the permanent magnet synchronous motor is strictly symmetric (that is, there is no installation error in the Hall sensor), the six Hall level rising edge and falling edge time intervals within one electrical angle period of the permanent magnet synchronous motor detected offline are the same, and the detected time is: ; where T represents the Hall level rising edge and falling edge time interval, represents the electrical angular frequency of the permanent magnet synchronous motor.

[0034] Figure 3 is the schematic waveform diagram of the Hall sensor electrical signal when the installation of the Hall sensor and the permanent magnet synchronous motor is strictly symmetric. There are six level states for the Hall position, and different level states represent different positions of the rotor of the permanent magnet synchronous motor. That is, when the Hall state is 101, the position of the permanent magnet synchronous motor is from 0 to , and so on to obtain the motor position angle range under different Hall states. The motor position angle is the electrical angle of the motor.

[0035] Figure 4 is the schematic diagram of position and speed calculation when the installation of the Hall sensor and the permanent magnet synchronous motor is strictly symmetric. In the figure, is the average speed in the Scetor i - 1 interval; is the moment when entering the Scetor i. and is the boundary angle of the interval. If it is detected offline that the time intervals between the rising edges and falling edges of the six Hall levels within one electrical angle period of the permanent magnet synchronous motor are the same (i.e., ), then the angles between the six levels are uniform, that is, each level interval is electrical angle. The speed and rotor position estimation of the permanent magnet synchronous motor can be written as follows: ; where: is the angle calculated offline for the previous Hall level interval, is the time for the motor to rotate through the previous Hall level interval, is the average electrical angular velocity of the previous Hall level interval; is the current Hall level angle, is the angle calculated offline for the next Hall level interval, is the time for the motor to rotate within the current Hall level interval is the estimated angle of the current Hall level interval.

[0036] See Figures 5 - 8 , Figure 5 is the schematic diagram of the position when there is an installation error between the Hall sensor and the permanent magnet synchronous motor. When the Hall-type sensor permanent magnet synchronous motor position sensor is asymmetrically installed, the three Hall devices do not strictly differ by 120°, but there is an error, and .

[0037] Figure 6 is the schematic waveform diagram of the Hall sensor electrical signal when there is an installation error between the Hall sensor and the permanent magnet synchronous motor. When there is an installation error in the Hall-type sensor, when the Hall level changes, the electrical angle difference between the previous level change and the current level change is not , but is related to the installation angle error, that is, , , , , , is not exactly equal to .

[0038] Figure 7 is the constant current frequency ratio (IF) control block diagram of the permanent magnet synchronous motor. For the constant current frequency ratio (IF) control of the motor, by setting an appropriate current-to-frequency ratio, the torque current and speed of the motor are directly controlled. In the current frequency ratio (IF) control, the speed operates in an open loop and the current operates in a closed loop. The current closed loop improves the stability of the motor output torque. In the constant current frequency ratio (IF) control of the permanent magnet synchronous motor, the three-phase current of the motor is sampled , , And perform coordinate transformation (abc-dq) to transform the three-phase motor current into dq current, and use the current regulator (ACR) to form a current closed-loop control. The q-axis current of the constant current-frequency ratio (IF) control and the motor angle are artificially given, so that the operating electrical frequency of the motor is .

[0039] When there is an installation error between the Hall sensor and the permanent magnet synchronous motor (that is, there is an installation error in the Hall sensor), the time intervals between the rising edges and falling edges of the six Hall levels within one electrical angle period of the permanent magnet synchronous motor detected offline are inconsistent, indicating that a deviation in the Hall position installation (that is, there is an installation error in the Hall sensor) is detected. Denote the six time intervals as 、 、 、 、 、 , and calculate the angular positions of the six states of the Hall sensor according to the time intervals measured offline. The calculation formula is: ; Among them, is the rotor position angle of the first interval, which can be simply referred to as the first angular position; is the time interval of the first interval, which can be simply referred to as the first time interval, and so on and 、 and 、 and 、 and 、 and .

[0040] Therefore, further, after step S200, the position correction method further includes: Judge whether there is an installation error in the Hall sensor according to the six time intervals; When the six time intervals are not completely consistent, judge that there is an installation error in the Hall sensor; When the six time intervals are completely consistent, judge that there is no installation error in the Hall sensor.

[0041] Specifically, six time intervals can be used to determine whether the Hall sensor has an installation error: when the six time intervals are not completely consistent, it is determined that the Hall sensor has an installation error, and step S300 is required to calculate the installation error of the Hall sensor, and perform angle and speed correction compensation in the vector control of the permanent magnet synchronous motor based on the installation error; when the six time intervals are completely consistent, it is determined that the Hall sensor does not have an installation error, and there is no need to perform steps S300 and S400, that is, the Hall sensor is installed normally, and there is no need to perform angle and speed correction compensation in the vector control of the permanent magnet synchronous motor.

[0042] Furthermore, the six time intervals corresponding to the rising and falling edges of the Hall sensor are obtained by an oscilloscope device. , , , , , ; Furthermore, the microprocessor is used to obtain the six time intervals corresponding to the rising and falling edges of the Hall sensor. , , , , , .

[0043] Specifically, the installation error calculation function of the Hall sensor includes offline installation error detection or online installation error detection. Offline installation error detection uses an oscilloscope device to detect the level state of the Hall signal, and offline detection of the time interval between the rising and falling edges of the six Hall levels in one electrical angle cycle of the permanent magnet synchronous motor. , , , , , The online installation error detection uses a microprocessor (MCU) to detect the level state of the Hall signal. The online installation error detection method uses the timer capture function of the microprocessor (MCU) to capture each transition edge of the Hall signal, and uses the timing function of the timer to obtain the time intervals of six different intervals of the Hall due to installation deviation. , , , , , In this application, the motor constant current frequency ratio (IF) control is used to operate the permanent magnet synchronous motor to a set speed. and connect the Hall signal line to an oscilloscope device or a microprocessor (MCU).

[0044] Further, step S400: Correct and compensate the angle and speed in the vector control of the permanent magnet synchronous motor according to the installation error; Step S400 includes: calculating the compensation angle and compensation speed according to the installation error respectively as: , where is the angle calculated offline for the previous Hall level interval, is the time for the motor to rotate through the previous Hall level interval, is the average electrical angular velocity of the previous Hall level interval; is the current Hall level angle, is the angle calculated offline for the next Hall level interval, is the time for the motor to rotate in the current Hall level interval is the estimated angle of the current Hall level interval; Correct and compensate the angle and speed in the vector control of the permanent magnet synchronous motor through the compensation angle and compensation speed; where The current Hall level interval, i - 1 is the previous Hall level interval, and i + 1 is the next Hall level interval.

[0045] Specifically, use the installation error of the Hall sensor identified offline or online for the angle and speed correction compensation in the vector control of the permanent magnet synchronous motor.

[0046]

Embodiment 2

[0047] In a specific embodiment, the control module 101, acquisition module 102, calculation module 103, and compensation module 104 of the position correction device 100 for a permanent magnet synchronous motor based on a Hall sensor cooperate to implement the position correction method for a permanent magnet synchronous motor based on a Hall sensor as in the first embodiment above, which will not be elaborated here.

[0048]

Embodiment III

[0049]

Embodiment IV

[0050] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, in each embodiment of the present invention, the functional modules can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0051] If the function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present invention. The foregoing readable storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for position correction of a permanent magnet synchronous motor based on a Hall sensor, characterized in that: The position correction method comprises: Controlling the permanent magnet synchronous motor to operate to a first state; When the permanent magnet synchronous motor runs to the first state, six time intervals corresponding to the rising edge and the falling edge of the Hall sensor are obtained. , , , , , ; Calculating the installation error of the Hall sensor according to the six time intervals; Correcting and compensating the angle and speed in the vector control of the permanent magnet synchronous motor according to the installation error; Among them, the first state is that the movement state of the permanent magnet synchronous motor is in a uniform rotation state.

2. The position correction method according to claim 1, characterized in that: The controlling the permanent magnet synchronous motor to operate to the first state comprises: Set the motor constant current frequency ratio; Controlling the operating frequency of the permanent magnet synchronous motor according to the motor constant current-frequency ratio; Controlling the permanent magnet synchronous motor to operate at the operating frequency so that the permanent magnet synchronous motor operates to the first state; The motor constant current-frequency ratio is the ratio of current to frequency.

3. The position correction method according to claim 1, characterized in that: The calculating the installation error of the Hall sensor according to the six time intervals comprises: The angular positions of the six states of the Hall sensor are calculated according to the six time intervals, and the calculation formula of the angular positions is: ; in, is the rotor position angle of the nth interval, is the electrical angular frequency of the permanent magnet synchronous motor, is the time interval between the rising edge and the falling edge of the Hall level in the nth interval, n=1, 2, 3, 4, 5, 6.

4. The position correction method according to claim 3, characterized in that: The angle and speed correction compensation in the vector control of the permanent magnet synchronous motor according to the installation error includes: The compensation angle and compensation speed calculated according to the installation error are: ,in, is the angle calculated offline in the previous Hall level interval, is the time it takes for the motor to pass through the previous Hall level interval, is the average electrical angular velocity in the previous Hall level interval; is the current Hall level angle, is the angle calculated offline in the next Hall level interval, is the time the motor rotates in the current Hall level interval, Estimate the angle for the current Hall level interval; Correcting and compensating the angle and speed in the vector control of the permanent magnet synchronous motor by means of the compensation angle and the compensation speed; Among them, i is the current Hall level interval, i-1 is the previous Hall level interval, and i+1 is the next Hall level interval.

5. The position correction method according to claim 1, characterized in that: When the permanent magnet synchronous motor runs to the first state, six time intervals corresponding to the rising edge and the falling edge of the Hall sensor are obtained. , , , , , Afterwards, the position correction method further includes: Determining whether the Hall sensor has the installation error according to the six time intervals; When the six time intervals are not completely consistent, it is determined that the Hall sensor has the installation error; When the six time intervals are completely consistent, it is determined that the Hall sensor does not have the installation error.

6. The position correction method according to claim 1, characterized in that: The six time intervals corresponding to the rising edge and the falling edge of the Hall sensor are obtained by an oscilloscope device. , , , , , .

7. The position correction method according to claim 1, characterized in that: The six time intervals corresponding to the rising edge and the falling edge of the Hall sensor are obtained by a microprocessor , , , , , .

8. A position correction device for a permanent magnet synchronous motor based on a Hall sensor, characterized in that: The position correction device comprises: A control module, wherein the control module is used to control the permanent magnet synchronous motor to operate to a first state; an acquisition module, the acquisition module being used to acquire six time intervals corresponding to the rising edge and the falling edge of the Hall sensor when the permanent magnet synchronous motor runs to the first state , , , , , ; A calculation module, the calculation module is used to calculate the installation error of the Hall sensor according to the six time intervals; A compensation module, the compensation module is used to compensate for the angle and speed correction in the vector control of the permanent magnet synchronous motor according to the installation error; Among them, the first state is that the movement state of the permanent magnet synchronous motor is in a uniform rotation state.

9. An electronic device, characterized in that: The electronic device comprises: a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the position correction method of a permanent magnet synchronous motor based on a Hall sensor as described in any one of claims 1 to 7.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the position correction method of a permanent magnet synchronous motor based on a Hall sensor as described in any one of claims 1 to 7 are implemented.

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