Mining pump permanent magnet motor position-sensing-free control device based on rotating speed correction

Abstract

The invention discloses a position-sensing-free control device for a permanent magnet motor of a mining pump based on rotation speed correction. The position-sensing-free control device comprises a motor rotor rotating shaft, a Hall induction wheel, a fixing support, a Hall sensor, a motor end cover, a motor driving control module and the like. The Hall induction wheel is fixed on the rotor rotating shaft through a key slot and a flat key to follow up; the Hall sensor is installed on the inner surface of a motor end cover through a fixing support and outputs a pulse signal to the motor drive control module along with the change of the tooth groove gap of the induction wheel after being powered on, and the detected rotating speed is obtained. The motor driving control module estimates the rotating speed and the rotor position of the motor through the voltage and the current, and corrects the estimated rotating speed through the detected rotating speed; and the motor driving control module realizes closed-loop control of the permanent magnet synchronous motor of the mining pump based on the voltage and current signals, the position and the corrected rotating speed. The problems that the position sensor of the permanent magnet motor of the mining pump is difficult to install and the rotating speed / position estimation error of a position-sensing-free method is large are solved.

Description

Technical Field

[0001] This invention belongs to the field of sensorless control technology for permanent magnet synchronous motors in mining pumps, specifically relating to a sensorless control device for permanent magnet synchronous motors in mining pumps based on speed correction, which is suitable for closed-loop control of permanent magnet synchronous motor speed detection and high-precision speed fusion in mining pumps. Background Technology

[0002] In coal mining, the mine pump motor is the core power equipment of the drainage system, and its accurate monitoring is directly related to the safety and efficiency of mine production. Position detection of permanent magnet synchronous motors typically relies on position sensors. However, traditional position sensors face significant technical bottlenecks in the application of mine pump permanent magnet synchronous motors: on the one hand, mine pump motors are bulky, making the installation of position sensors complex and difficult to maintain; on the other hand, the harsh mine environment makes existing position sensors susceptible to damage, leading to the failure of the entire drainage control device. Sensorless control methods, on the other hand, suffer from problems with position estimation accuracy or algorithm delays.

[0003] To improve the accuracy and reliability of sensorless control of permanent magnet synchronous motors (PMSMs) in mining pumps, this invention draws inspiration from the design of crankshaft speed sensors in automotive engines. A Hall sensor-based speed sensing and detection system for the PMSM is designed and used to correct the estimated speed in the sensorless control method for the PMSM. This compensates for the accuracy and delay issues in speed detection to some extent, thereby improving the accuracy of sensorless control of the PMSM. Based on this, this invention proposes a speed-corrected sensorless control device for PMSMs in mining pumps. The device uses a Kalman filter fusion algorithm to correct the speed estimated by the sensorless control method based on the Hall sensor's detected speed, ultimately achieving sensorless control of the PMSM based on speed correction. Summary of the Invention

[0004] The purpose of this invention is to address the difficulties in installing and maintaining speed / position sensors for mine pump motors and the low accuracy of sensorless control methods. It provides a sensorless control device for a mine pump permanent magnet motor based on speed correction. The device includes: a motor rotor shaft, a Hall effect sensor wheel, a fixed bracket, a Hall sensor, a motor end cover, and a motor drive control module. The Hall effect sensor wheel is fixed to the rotor shaft via a keyway and a flat key, and moves with it. The Hall sensor is mounted on the inner surface of the motor end cover via the fixed bracket. When energized, the Hall sensor outputs a pulse signal as the tooth gap of the sensor wheel changes, which is transmitted to the motor drive control module. After signal preprocessing and model calculation, the real-time speed is obtained. The motor drive control module collects voltage and current signals to estimate the speed and rotor position of the permanent magnet motor, and corrects the estimated speed using the speed detected by the Hall sensor. The motor drive control module achieves closed-loop control of the mine pump permanent magnet synchronous motor based on the voltage and current signals, the position, and the corrected speed.

[0005] Furthermore, a Hall effect sensor wheel is mounted on the shaft or rotor of the mining pump motor via a flat key, and the Hall sensor is mounted near the sensor wheel via a fixed bracket. When the rotor rotates, the tooth tips of the Hall effect sensor wheel periodically approach the Hall sensor, causing the Hall sensor to generate a pulse signal. The motor drive control module preprocesses the pulse signal and calculates the motor rotor speed based on the preprocessed signal.

[0006] Furthermore, the Hall sensor wheel adopts an involute gear structure, and its tooth profile conforms to standard involute parameters. It is installed on the rotor shaft via the keyway and flat key of the Hall sensor wheel. After installation, the Hall sensor wheel is concentric with the rotor shaft and rotates synchronously with the shaft.

[0007] Furthermore, the Hall sensor is mounted on the inner side of the motor end cover via a fixed bracket. A certain size air gap is reserved between the Hall sensor and the Hall sensing wheel to ensure that the Hall sensor stably, in real time, and accurately detects the changes in the magnetic field generated when the sensing wheel rotates, and outputs a corresponding pulse signal. The pulse signal needs to be transmitted to the motor drive control module via a cable for further processing.

[0008] Furthermore, the inner side of the motor end cover provides a stable and reliable reference surface for the installation of the fixed bracket. The Hall sensor and Hall sensing wheel are located inside the motor, forming a completely sealed space that effectively isolates moisture and other liquids to be transmitted from the external working environment, providing good protection for the Hall sensor and ensuring its long-term stable operation.

[0009] Furthermore, the motor drive control module receives the pulse signal output by the Hall sensor, performs signal preprocessing on the pulse signal to output a stable rectangular square wave signal, and then calculates the real-time speed of the motor to achieve non-contact accurate detection of the rotor speed of the mining pump motor.

[0010] Furthermore, the motor drive control device acquires the voltage and current signals of the drive circuit, estimates the speed and rotor position of the permanent magnet synchronous motor through a sensorless control method, and then corrects the estimated speed using the speed detected by the Hall sensor.

[0011] Furthermore, the sensorless control method for the permanent magnet synchronous motor of the mining pump uses the voltage and current signals of the three-phase drive circuit to estimate the position and speed of the motor rotor under medium-high speed conditions and zero-low speed conditions, respectively, through a sliding mode observer or a high-frequency square wave injection method.

[0012] Furthermore, the aforementioned speed correction method uses a Kalman filter fusion method to correct the speed estimated by the sensorless method using the speed detected by the Hall sensor.

[0013] Furthermore, the closed-loop control of the permanent magnet synchronous motor for the mining pump refers to the use of voltage and current signals, the rotor position estimated by the permanent magnet synchronous motor without a position sensor, and the corrected speed obtained by correcting the estimated speed without a position sensor through the speed detection of the Hall sensor, to realize a position sensorless control device for the permanent magnet motor of the mining pump based on speed correction.

[0014] The present invention has the following advantages:

[0015] (1) The position-sensorless control device for a permanent magnet motor of a mining pump based on speed correction described in this invention provides a low-cost and reliable detection method for the speed detection of a permanent magnet synchronous motor of a mining pump. The speed detection method for a mining pump motor based on a Hall sensor and an induction wheel has a speed signal processing mechanism that can conveniently acquire real-time speed data. The Hall induction wheel is installed on the motor rotor shaft and works in conjunction with the Hall sensor to achieve non-contact detection, avoiding mechanical wear problems; at the same time, the speed detection system has low structural cost, is easy to install, and is durable and reliable.

[0016] (2) The present invention provides a position-sensorless control device for a mine pump permanent magnet motor based on speed correction. The speed correction employs a Kalman filter fusion algorithm and a Hall sensor to detect the speed and correct the position-estimated speed of the mine pump permanent magnet synchronous motor. Compared with existing technologies, the speed correction method of the present invention is simple and reliable, and can effectively reduce errors such as speed estimation in position-sensorless methods. Therefore, the present invention can effectively improve the stability of real-time speed calculation for the mine pump permanent magnet synchronous motor and support real-time closed-loop control of the mine pump permanent magnet synchronous motor. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments are briefly introduced. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the overall structure of a position-sensorless control device for a permanent magnet motor of a mining pump based on speed correction, according to an embodiment of this application, is shown.

[0019] Figure 2 A pulse signal sensing structure diagram of a position-sensorless control device for a permanent magnet motor of a mining pump based on speed correction is shown according to an embodiment of this application.

[0020] Figure 3 A block diagram of a sensorless closed-loop control system for a permanent magnet synchronous motor for a mining pump based on speed correction, according to an embodiment of this application, is shown.

[0021] Figure 4 A block diagram of a sensorless closed-loop control system for a permanent magnet synchronous motor of a mining pump based on speed correction and employing a high-frequency square wave injection method under zero-low speed conditions is shown according to an embodiment of this application.

[0022] Figure 5 The diagram shows the effect of sensorless closed-loop control of a mine pump permanent magnet synchronous motor based on speed correction when using a high-frequency square wave injection method under zero low-speed conditions according to an embodiment of this application.

[0023] Figure 6 A block diagram of a sensorless closed-loop control system for a mine pump permanent magnet synchronous motor with speed correction based on a sliding mode observer is shown in an embodiment of this application under medium- and high-speed operating conditions.

[0024] Figure 7 The diagram illustrates the effect of sensorless closed-loop control of a mine pump permanent magnet synchronous motor based on speed correction under medium-to-high-speed operating conditions using the sliding mode observer method according to an embodiment of this application. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the 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 merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other. To achieve the above objectives, this invention adopts the following technical solution.

[0026] like Figure 1 As shown in the diagram, this invention provides a schematic diagram of the overall structure of a position-sensorless control device for a permanent magnet motor in a mining pump based on speed correction. The device includes: a rotor shaft 1, a Hall effect sensor wheel 2, a fixed bracket 3, a Hall effect sensor 4, a motor end cover 5, and a motor drive control module 6. The Hall effect sensor wheel 2 is fixed to the rotor shaft 1 via a keyway 2-1 and a flat key, and moves accordingly. The Hall effect sensor 4 is mounted on the inner surface of the motor end cover 5 via the fixed bracket 3. When energized, the Hall effect sensor 4 outputs a pulse signal as the tooth gap of the Hall effect sensor wheel 2 changes, which is transmitted to the motor drive control module 6. After signal preprocessing and model calculation, the real-time speed is obtained. The motor drive control module 6 collects voltage and current signals to estimate the speed and rotor position of the permanent magnet synchronous motor, and corrects the estimated speed using the speed detected by the Hall effect sensor 4. The motor drive control module 6 achieves closed-loop control of the permanent magnet synchronous motor in the mining pump based on the voltage and current signals, the position, and the corrected speed.

[0027] A Hall effect sensor 2 is mounted on the rotor shaft 1 of the mining pump motor via a flat key, and a Hall sensor 4 is mounted near the Hall effect sensor 2 via a fixing bracket 3. When the rotor shaft 1 rotates, the tooth tips of the Hall effect sensor 2 periodically approach the Hall sensor 4, causing the Hall sensor 4 to generate a pulse signal. The motor drive control module 6 preprocesses the pulse signal, outputs a stable rectangular square wave signal, and calculates the rotor speed based on this signal.

[0028] The Hall sensor wheel 2 adopts an involute gear structure, and its tooth profile conforms to the standard involute parameters. It is installed on the rotor shaft 1 via the keyway 2-1 and the key, and is concentric with the rotor shaft 1 during installation.

[0029] The Hall sensor 4 is mounted on the inner side of the motor end cover 5 via a fixing bracket 3. A certain air gap, typically 0.5mm-3mm, is maintained between the Hall sensor 4 and the Hall sensing wheel 2 to ensure that the Hall sensor 4 stably, in real-time, and accurately detects changes in the magnetic field generated during the rotation of the sensing wheel and outputs a corresponding pulse signal. This signal can be transmitted via cable to the motor drive control module 6 for further processing.

[0030] The inner side of the motor end cover 5 provides a stable and reliable reference surface for the installation of the fixing bracket 3. The Hall sensor 4 and the Hall sensing wheel 2 are located inside the motor to form a completely sealed space. This sealed space can effectively isolate moisture and other liquids to be transmitted from the external working environment, providing good protection for the Hall sensor and ensuring its long-term stable operation.

[0031] The motor drive control module 6 receives the pulse signal output by the Hall sensor 4, outputs a stable rectangular square wave signal by preprocessing the pulse signal, and then calculates the real-time speed of the motor to achieve non-contact and accurate detection of the rotor speed of the mining pump motor.

[0032] The motor drive control module 6 collects the voltage and current signals of the drive circuit, estimates the speed and rotor position of the permanent magnet synchronous motor through a sensorless control method, and then corrects the estimated speed using the speed detected by the Hall sensor 4.

[0033] The sensorless control method for the permanent magnet synchronous motor of the mining pump uses the voltage and current signals of the three-phase drive circuit to estimate the position and speed of the motor rotor under medium-high speed conditions and zero-low speed conditions, respectively, through a sliding mode observer or a high-frequency square wave injection method.

[0034] The aforementioned rotational speed correction method uses a Kalman filter fusion method to correct the rotational speed estimated by a sensorless method based on the rotational speed detected by a Hall sensor.

[0035] The closed-loop control of the permanent magnet synchronous motor of the mining pump refers to the use of voltage and current signals, rotor position estimated without position sensors, and speed estimated without position sensors after speed correction by Hall sensor 4 to realize a speed-corrected permanent magnet motor control device for the mining pump.

[0036] like Figure 2 The diagram shows the pulse signal sensing structure of the sensorless control device for a permanent magnet motor in a mining pump based on speed correction.

[0037] The Hall sensor wheel 2 is an involute gear, including the selection of tooth profile, number of teeth, and module.

[0038] The tooth profile standardization: the tooth profile is determined solely by the number of teeth ( ), pressure angle ( ), Modulus ( The decision is independent of other gear parameters, simplifying tool design and inventory management.

[0039] The number of teeth is selected according to the required structural size. The tooth shape should be uniform and have high magnetic permeability. The more teeth there are, the smaller the pulse interval captured by the Hall sensor and the higher the accuracy.

[0040] The module is defined as follows: The module is a core parameter in gear design, used to quantify the geometric dimensions of the gear teeth, and directly affects the gear's load-bearing capacity, transmission accuracy, and mechanical performance. The national standard module should be selected first to enhance tooth root strength and impact resistance.

[0041] The pitch circle diameter, addendum circle diameter, dedendum circle diameter, base circle diameter, pitch circle tooth thickness, and root fillet are calculated based on the selected module and number of teeth.

[0042] Pitch circle diameter: ;

[0043] Tooth tip circle diameter: ;

[0044] Tooth root circle diameter: ;

[0045] Base circle diameter: ;

[0046] Indexing scallop thickness: ;

[0047] Tooth root fillet: .

[0048] As the rotor shaft rotates, the teeth of the Hall sensor wheel 2 also rotate. When a voltage is applied to the left and right sides of the Hall element 4-2 of the Hall sensor 4, and a magnetic field is applied to the magnet 4-1 of the Hall sensor 4, a corresponding voltage will be generated on the front and back sides of the element according to the principle of electromagnetic induction. Each time the teeth pass through the Hall element 4-2, a change in the magnetic field strength will be triggered, which in turn will cause a change in the Hall voltage. The faster the motor speed, the higher the frequency of voltage change. The chip internally converts this signal reflecting the frequency into a pulse signal, which is finally transmitted to the control unit to realize the acquisition of the speed signal.

[0049] The closed-loop control of the permanent magnet synchronous motor of the mining pump is as follows: Figure 3 As shown, a sensorless closed-loop control block diagram of a permanent magnet synchronous motor for a mining pump based on speed correction is provided, including: sensorless control of the permanent magnet synchronous motor for the mining pump at a given speed. To achieve the target, the quadrature-axis current is given by the ASR (speed regulator), and the direct-axis current is given. The three-phase currents are fed into the ACR (current regulator) and transformed using Clark and Park coordinates. , , Switch to The shaft is controlled in a closed loop. Then, the inverter module outputs three-phase (R, S, T) power to supply the motor through inverse Park transform and SVPWM modulation. At the same time, the rotor position and speed are estimated from the current signal using a sensorless algorithm. The estimated speed is corrected by fusing the speed detected by Hall sensor 4 and Kalman filter to form accurate corrected speed feedback. It participates in closed-loop regulation to ensure that the motor stably tracks the given speed.

[0050] like Figure 4 The diagram shows a sensorless closed-loop control block diagram of a mining pump permanent magnet synchronous motor based on speed correction using a high-frequency square wave injection method under zero-low speed conditions.

[0051] The permanent magnet synchronous motor of the mining pump is controlled without position sensor to achieve a given speed. To achieve the target, the quadrature-axis current is given by the ASR output, and the direct-axis current is given. Both are fed into the ACR, with a high-frequency voltage signal superimposed on the direct-axis channel. Subsequently, after inverse Park transformation and SVPWM modulation, the inverter module outputs R, S, and T three-phase electricity to power the motor; the three-phase current output by the motor is then converted by Clark transformation to obtain... , On one hand, the signal is fed back to the current loop via Park transform; on the other hand, it is input to a high-frequency square wave injection method. This method simultaneously receives externally injected high-frequency voltage signals, processes them using a sign function, and extracts the high-frequency current component carrying rotor electrical angle information. This extracts the rotor position and speed estimates. The speed estimates are then processed by the speed detected by the Hall sensor and corrected using a Kalman-filter-based speed fusion algorithm to form the corrected speed feedback. The signal is sent back to the ASR to ensure the motor stably tracks the given speed. The high-frequency square wave injection method is... Figure 3 This paper presents a specific implementation of the "Speed / Position Estimation Method Based on Sensorless Operation" in zero-low speed conditions. It is used to solve the problem of speed and position estimation of permanent magnet synchronous motors in mining pumps when running at zero-low speed by fusing relevant signals.

[0052] The effect diagram of sensorless closed-loop control of the permanent magnet synchronous motor of the mining pump based on speed correction when using the high-frequency square wave injection method in the zero-low speed condition is shown in the figure below. Figure 5 As shown in the figure, the black solid line represents the given rotational speed, the orange dashed line represents the rotational speed estimated by the sensorless method, the purple dashed line represents the detected rotational speed, and the red solid line represents the corrected rotational speed. During the motor acceleration phase, both the rotational speed estimated and detected by the sensorless method exhibit time lag and significant errors. During the stable operation phase, the oscillation amplitude of the corrected rotational speed is significantly smaller than that of the rotational speed estimated and detected by the sensorless method. Furthermore, when using the solution of this invention, the corrected rotational speed can reach the reference speed more quickly and with smaller errors.

[0053] The Kalman filter algorithm initialization parameters are set to determine the process noise covariance during the prediction phase. Measurement of noise covariance and ;in , For the measurement noise covariance of the high-frequency square wave injection method, Initialize the state estimate to the measurement noise covariance of the sliding mode observer. and error covariance .

[0054] The Kalman filter fusion process, prediction phase: based on the rotational speed estimate from the previous moment... Calculate the predicted value: Update the prediction error covariance: .in This is the estimated rotational speed from the previous moment. The state transition matrix (here) ), Predicted rotational speed at the current moment; process noise covariance , The prediction error covariance at the previous time step, The prediction error covariance at the current moment.

[0055] Phase One Integration:

[0056] Calculate the Kalman gain: ;

[0057] Fusion measurement speed Updated state estimate: ;

[0058] Update error covariance: ;

[0059] in, To measure the Kalman gain of the rotational speed, For the observation matrix (here) ), measuring noise covariance ; The optimal speed estimate for the measured rotational speed at the current moment. The measured rotational speed at the current moment; The optimal error covariance for measuring rotational speed at the current moment. Scalar unit.

[0060] Phase Two Integration:

[0061] Calculate the Kalman gain: , ;

[0062] Fusion measurement speed Updated state estimate: ;

[0063] Update error covariance: ;

[0064] in, For Kalman gain, This is the observation matrix for the high-frequency square wave injection method. The observation matrix of the sliding mode observer. To measure the noise covariance, The optimal error covariance at the current moment. This is the state estimate.

[0065] The final corrected state estimate This serves as the speed feedback value for the control algorithm.

[0066] like Figure 6 The diagram shows a sensorless closed-loop control block diagram of a mining pump permanent magnet synchronous motor based on speed correction and using a sliding mode observer under medium- and high-speed operating conditions.

[0067] Mining permanent magnet synchronous motor control system at a given speed and direct-axis current given As input, after ASR and ACR regulation, the inverter module outputs R, S, and T three-phase electricity to power the motor via inverse Park transformation and SVPWM modulation; the three-phase current fed back from the motor is obtained through Clark transformation. , With motor voltage , The rotor position and speed estimates are obtained by inputting the values ​​into the sliding mode observer. The speed estimates and the speed detected by the Hall sensor are then processed by a "speed fusion algorithm based on Kalman filtering" to form the corrected speed feedback. The data is sent back to the ASR to ensure the motor stably tracks the given speed. The Kalman filter fusion algorithm described above has been detailed in Example 2. The sliding mode observer is... Figure 3 This paper presents a specific implementation of the "Speed / Position Estimation Method Based on Sensorless Operation" under medium- and high-speed conditions. It is used to solve the problem of speed and position estimation of permanent magnet synchronous motors in mining pumps when running at high speed by fusing relevant signals.

[0068] The effect diagram of sensorless closed-loop control of the permanent magnet synchronous motor of the mining pump based on speed correction under medium and high speed conditions using the sliding mode observer method is shown below. Figure 7 As shown in the figure, the black solid line represents the given rotational speed, the yellow dashed line represents the rotational speed estimated by the sensorless method, the purple dashed line represents the detected rotational speed, and the red solid line represents the corrected rotational speed. During the motor acceleration phase, it can be seen that both the rotational speed estimated by the sensorless method and the detected rotational speed exhibit significant overshoot. During the stable operation phase of the motor, the oscillation of the corrected rotational speed is smaller than that of the rotational speed estimated and detected by the sensorless method. Furthermore, when using the solution of this invention, the corrected rotational speed can reach the reference rotational speed more quickly and with smaller errors.

[0069] This invention proposes a sensorless control device for a permanent magnet motor in a mining pump based on speed correction. This device is based on a sensorless closed-loop control method for a permanent magnet synchronous motor in a mining pump based on speed correction. It combines zero-low speed high-frequency square wave injection and medium-high speed sliding mode observer with Kalman filter fusion algorithm to correct the speed, thereby reducing the speed estimation error and enhancing the robustness of the system.

[0070] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0071] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A position-sensorless control device for a permanent magnet motor in a mining pump based on speed correction, characterized in that: The system includes a motor rotor shaft, a Hall effect sensor wheel, a fixed bracket, a Hall sensor, a motor end cover, and a motor drive control module. The Hall effect sensor wheel is fixed to the rotor shaft and moves with it. The Hall sensor is mounted on the inner surface of the motor end cover via the fixed bracket. When the Hall sensor is powered on, it outputs a pulse signal as the tooth gap of the Hall effect sensor wheel changes, which is transmitted to the motor drive control module to calculate the real-time rotational speed of the shaft. The motor drive control module collects the voltage and current signals of the drive circuit to estimate the rotational speed and rotor position of the permanent magnet motor, and corrects the estimated rotational speed using the rotational speed detected by the Hall sensor. The motor drive control module realizes closed-loop control of the permanent magnet synchronous motor of the mining pump based on the voltage and current signals, position, and corrected rotational speed.

2. The position-sensorless control device for a permanent magnet motor of a mining pump based on speed correction according to claim 1, characterized in that: A Hall sensor wheel is mounted on the rotor shaft of a mining pump motor via a flat key. The Hall sensor is mounted on the radial position of the Hall sensor wheel via a fixed bracket. When the rotor shaft rotates, the tooth tip of the Hall sensor wheel periodically approaches the Hall sensor, causing the Hall sensor to generate a pulse signal. The motor drive control module preprocesses the pulse signal and calculates the motor rotor speed based on the preprocessed signal.

3. The position-sensorless control device for a permanent magnet motor of a mining pump based on speed correction according to claim 2, characterized in that: The Hall sensor wheel adopts an involute gear structure, and its tooth profile conforms to standard involute parameters. It is installed concentrically with the rotor shaft.

4. The position-sensorless control device for a permanent magnet motor of a mining pump based on speed correction according to claim 1, characterized in that: The Hall sensor is mounted on the inner side of the motor end cover via a fixed bracket, and a certain air gap is reserved between the Hall sensor and the Hall sensing wheel.

5. The position-sensorless control device for a permanent magnet motor of a mining pump based on speed correction according to claim 1, characterized in that: The Hall sensor is mounted on the inside of the motor end cover via a bracket, and the Hall sensor and the Hall sensing wheel are located inside the motor to form a completely sealed space.

6. The position-sensorless control device for a permanent magnet motor of a mining pump based on speed correction according to claim 1, characterized in that: The motor drive control module receives the pulse signal output by the Hall sensor, preprocesses the signal to output a stable rectangular square wave signal, and then calculates the real-time speed of the motor through a specific calculation model, thereby realizing non-contact and accurate detection of the rotor speed of the mining pump motor.

7. The position-sensorless control device for a permanent magnet motor of a mining pump based on speed correction according to claim 1, characterized in that: The motor drive control module acquires voltage and current signals from the drive circuit, estimates the speed and rotor position of the permanent magnet synchronous motor using a sensorless control method, and then corrects the estimated speed using the speed detected by a Hall sensor.

8. A position-sensorless control device for a permanent magnet motor of a mining pump based on speed correction according to claim 7, characterized in that, The sensorless control method for the permanent magnet synchronous motor of the mining pump uses the voltage and current signals of the three-phase drive circuit to estimate the position and speed of the motor rotor under medium-high speed conditions and zero-low speed conditions, respectively, through a sliding mode observer or a high-frequency square wave injection method.

9. A position-sensorless control device for a permanent magnet motor of a mining pump based on speed correction according to claim 8, characterized in that, The speed correction method described above uses a Kalman filter fusion method to correct the speed estimated by the sensorless method for permanent magnet synchronous motors based on the speed detected by a Hall sensor.

10. A position-sensorless control device for a permanent magnet motor in a mining pump based on speed correction according to claim 1, characterized in that, The closed-loop control of the permanent magnet synchronous motor for mining pumps refers to the use of voltage and current signals, rotor position estimated without a position sensor, and corrected speed obtained by correcting the estimated speed without a position sensor through speed detection by a Hall sensor, to realize a sensorless control device for the permanent magnet motor of mining pumps based on speed correction.

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