Permanent magnet synchronous motor intelligent control method based on Hall position signal and flux linkage observer

Abstract

The invention relates to a permanent magnet synchronous motor intelligent control method based on Hall position signals and a flux observer. The method comprises the following steps: acquiring a Hall position signal corresponding to a motor, and analyzing the Hall position signal to obtain a motor angle and a motor rotating speed; if the rotating speed of the motor is smaller than the rotating speed switching threshold value, continuously observing the motor based on the Hall position signal by taking the angle of the motor as a reference so as to take the rotating speed of the motor as a predicted rotating speed corresponding to the motor; and if the rotating speed of the motor is greater than or equal to the rotating speed switching threshold value, observing the motor again based on the preset flux observer by taking the motor angle as a reference to obtain a predicted rotating speed corresponding to the motor, calculating a rotating speed deviation between the predicted rotating speed and the target rotating speed, and performing electrical analysis on the rotating speed deviation to obtain a control signal. By adopting the method, motor voltage driving and rotating speed closed-loop control in a full-speed domain can be adaptively realized.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to an intelligent control method for permanent magnet synchronous motors based on Hall position signals and flux linkage observers. Background Technology

[0002] In the field of motor control technology, the control methods for permanent magnet synchronous motors involve sensory control and sensorless control.

[0003] On the one hand, traditional sensor-based control methods involve acquiring and analyzing Hall position signals using Hall sensors; however, this is susceptible to errors due to noise and response delays at high speeds. On the other hand, traditional sensorless control methods involve analyzing flux linkage using flux linkage observers; however, this is also prone to errors at low speeds due to small signal amplitude and low signal-to-noise ratio. Consequently, motor control becomes discontinuous, speed feedback is unstable, and it is difficult to achieve smooth drive and stable speed control across the entire speed range. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, system, computer equipment, and computer-readable storage medium for intelligent control of permanent magnet synchronous motors based on Hall position signals and flux linkage observers to address the aforementioned technical problems.

[0005] Firstly, this application provides a method for intelligent control of a permanent magnet synchronous motor based on Hall position signals and flux linkage observers, including: Obtain the Hall position signal corresponding to the preset permanent magnet synchronous motor, perform signal change feature analysis on the Hall position signal, and obtain the motor angle and motor speed corresponding to the permanent magnet synchronous motor; If the motor speed is less than the preset speed switching threshold, the permanent magnet synchronous motor is observed based on the Hall position signal with the motor angle as a reference, so as to use the motor speed as the predicted speed of the permanent magnet synchronous motor. If the motor speed is greater than or equal to the preset speed switching threshold, then the permanent magnet synchronous motor is re-observed based on the preset magnetic flux observer, with the motor angle as a reference, to obtain the predicted speed of the permanent magnet synchronous motor. The speed deviation between the predicted speed and the preset target speed is calculated, and the speed deviation is electrically analyzed to obtain a control signal, which is used to control the voltage output of the permanent magnet synchronous motor and realize closed-loop speed control.

[0006] Secondly, this application also provides an intelligent control system for a permanent magnet synchronous motor based on Hall position signals and flux linkage observers, comprising: The acquisition module is used to acquire the Hall position signal corresponding to the preset permanent magnet synchronous motor, perform signal change feature analysis on the Hall position signal, and obtain the motor angle and motor speed corresponding to the permanent magnet synchronous motor. The first observation module is used to observe the permanent magnet synchronous motor based on the Hall position signal, with the motor angle as a reference, if the motor speed is less than a preset speed switching threshold, so as to use the motor speed as the predicted speed corresponding to the permanent magnet synchronous motor. The second observation module is used to re-observe the permanent magnet synchronous motor based on the preset flux linkage observer if the motor speed is greater than or equal to the preset speed switching threshold, with the motor angle as a reference, so as to obtain the predicted speed of the permanent magnet synchronous motor. The analysis module is used to calculate the speed deviation between the predicted speed and the preset target speed, and to perform electrical analysis on the speed deviation to obtain a control signal, which is used to control the voltage output of the permanent magnet synchronous motor and realize closed-loop speed control.

[0007] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the above steps.

[0008] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the above steps.

[0009] The aforementioned intelligent control method, system, computer equipment, and computer-readable storage medium for permanent magnet synchronous motors based on Hall position signals and flux linkage observers firstly obtain motor angle and speed information by analyzing the signal change characteristics of the Hall position signals, thus establishing an initial quantitative basis for the motor's operating state. On one hand, if the motor is determined to be operating at low speed based on its speed, the motor angle is used as a reference to continue observing the motor based on the Hall position signals, using the motor speed as the predicted speed, thereby achieving efficient sensor-based observation in the low-speed range. On the other hand, if the motor is determined to be operating at medium to high speed based on its speed, the motor angle is used as a reference to re-observe the motor based on the flux linkage. The observer monitors the motor to obtain the predicted speed, thereby achieving accurate sensorless observation in the medium- and high-speed range. Finally, electrical analysis is performed based on the speed deviation between the predicted and target speeds to adaptively generate control signals for voltage output control. Based on this, the entire technical solution constructs corresponding observation modes for the low-speed and medium- and high-speed ranges, thereby dynamically switching the appropriate observation mode under different motor operating conditions to form a continuous observation and control link. This ensures that the motor can maintain smooth transmission of angle data and stable feedback of speed data in all speed ranges, thus adaptively achieving seamless drive and highly consistent closed-loop control response across the entire speed domain. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. 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.

[0011] Figure 1 This is a flowchart illustrating a method for intelligent control of a permanent magnet synchronous motor based on Hall position signals and a flux linkage observer in one embodiment. Figure 2 This is a waveform diagram of a three-phase Hall position signal in one embodiment; Figure 3 This is a schematic diagram illustrating the waveform relationship between the three-phase Hall position signal and the three-phase voltage in one embodiment; Figure 4 This is a schematic diagram of the equivalent structure of a phase-locked loop circuit in one embodiment; Figure 5 This is a schematic diagram of the motor control system in one embodiment; Figure 6 This is a block diagram of a permanent magnet synchronous motor intelligent control system based on Hall position signals and flux linkage observers in one embodiment. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0013] In one embodiment, such as Figure 1 As shown, a method for intelligent control of a permanent magnet synchronous motor based on Hall position signals and flux linkage observers is provided. This embodiment illustrates the application of this method to a server. It is understood that this method can also be applied to a terminal, or to a system including both a terminal and a server, and is implemented through interaction between the terminal and the server. In this embodiment, the method includes the following steps S101 to S104.

[0014] Step S101: Obtain the Hall position signal corresponding to the preset permanent magnet synchronous motor, perform signal change feature analysis on the Hall position signal, and obtain the motor angle and motor speed corresponding to the permanent magnet synchronous motor.

[0015] Among them, the Hall position signal represents the signal output by the Hall sensor, which is used to reflect the discrete position state of the rotor of the permanent magnet synchronous motor in the electrical angle space.

[0016] For example, firstly, the Hall sensors configured for the permanent magnet synchronous motor (PMSM) acquire signals to obtain a sequence of Hall position signals output by the PMSM during operation. These signals reflect the spatial distribution of the rotor magnetic poles. Based on continuous sampling, the rising and falling edges of the signals are identified to determine the state changes of the Hall position signals, thereby establishing a correspondence between time and space. Subsequently, the time interval between adjacent states is calculated to reflect the rotational cycle characteristics of the PMSM, and the rotor angle change is deduced from these characteristics. Then, the ratio of the angle change between each state switch to the time interval is calculated to obtain the instantaneous speed of each sampling segment.

[0017] Finally, to reduce errors caused by signal jitter, time-weighted and average filtering is performed on the acquired results to form stable motor angle and motor speed sequences. Based on this, through the analysis of these signal change characteristics, a quantitative mapping from Hall state to motor operating parameters is established, enabling the subsequent control process to use motor angle and motor speed as basic inputs.

[0018] In step S102, if the motor speed is less than the preset speed switching threshold, the permanent magnet synchronous motor is observed based on the Hall position signal with the motor angle as a reference, so as to use the motor speed as the predicted speed corresponding to the permanent magnet synchronous motor.

[0019] Among them, the speed switching threshold is a critical speed value used to determine whether the current motor speed is in the low speed range or the medium-high speed range, so as to switch to the observation mode that matches the current motor speed.

[0020] For example, when the motor speed is detected to be lower than a preset speed switching threshold, it indicates that the permanent magnet synchronous motor is in low-speed operation. Therefore, the motor operating parameters continue to be observed based on the Hall position signal from the Hall sensor. Specifically, in this observation mode, the motor speed is not recalculated; instead, the current motor speed is directly used as the predicted speed for subsequent speed feedback and control logic. Simultaneously, the motor angle obtained in the previous stage is still used as an angle reference within the low-speed range to maintain phase continuity between Hall states and guide the determination of commutation timing, ensuring that the motor voltage output changes synchronously across different conduction intervals. Thus, the observation process at this time does not involve back electromotive force or current signals, but only directly measures the angle and speed based on the Hall position signal.

[0021] Furthermore, to ensure data stability under low-speed motor operation, the sampling period and the detection threshold of the Hall position signal edge are adaptively adjusted to match the time resolution of each Hall state change with the actual motor operating parameters. Finally, the motor speed obtained based on the Hall position signal within the current cycle is directly used as the predicted speed, and the motor angle is used as a commutation and phase reference, thus providing a timing basis and feedback foundation for continuous torque output in the low-speed range.

[0022] Step S103: If the motor speed is greater than or equal to the preset speed switching threshold, then the permanent magnet synchronous motor is re-observed based on the preset flux linkage observer, with the motor angle as a reference, to obtain the predicted speed of the permanent magnet synchronous motor.

[0023] Among them, the flux linkage observer refers to an algorithm or module for estimating the flux linkage of the motor stator or rotor. It is used to calculate the internal flux linkage state of the motor through measurable signals such as motor voltage and current without sensor measurement.

[0024] For example, when the motor speed is detected to reach or exceed a set speed switching threshold, it indicates that the permanent magnet synchronous motor is operating at medium to high speed. In this case, the update frequency of the Hall position signal is insufficient to reflect the transient motion characteristics of the rotor, necessitating a switch to the flux linkage observer for non-intrusive observation of the motor's operating parameters. Specifically, firstly, at the initial switching point, the flux linkage observer uses the motor angle obtained from the last update in low-speed observation mode as the initial phase reference, thus establishing phase consistency with the actual rotor position before the integration calculation begins. Secondly, the current and voltage signals of the permanent magnet synchronous motor are synchronously acquired, and the acquired data sequence is linearly transformed and mapped to a preset two-phase stationary coordinate system, thereby representing the data in an orthogonal two-dimensional space to reduce redundant computation. Based on this, within the flux linkage observer, integration is performed according to the relationship between voltage and current, accumulating the energy changes per unit time to obtain the flux linkage component corresponding to each sampling moment. The flux linkage component at each moment contains information on the dynamic changes of the internal magnetic field of the motor, representing the spatial distribution characteristics of electromagnetic energy.

[0025] Furthermore, by comparing the flux linkage components at adjacent sampling times and their corresponding rates of flux linkage change, the rotation angle of the flux linkage components is calculated, thereby deriving the electrical angle of the motor rotor. The continuous rate of change of this electrical angle over time is then further differentiated to obtain the motor speed of the permanent magnet synchronous motor. Thus, the observation process at this time ensures that the speed data output by the flux linkage observer always matches the actual operating state of the motor.

[0026] Furthermore, to avoid the impact of long-term accumulated errors in the integration calculation, a limit is set on the integration boundary and numerical correction is performed within a fixed period to ensure the numerical stability of the flux linkage calculation. Finally, the obtained motor speed is used as the predicted speed, thus providing a timing basis and feedback foundation for continuous torque output in the medium-to-high speed range.

[0027] Step S104: Calculate the speed deviation between the predicted speed and the preset target speed, perform electrical analysis on the speed deviation to obtain a control signal, which is used to control the voltage output of the permanent magnet synchronous motor and realize closed-loop speed control.

[0028] The target speed represents the system's preset desired operating speed, which is used to compare with the predicted speed obtained under the current observation mode to form a speed deviation.

[0029] Among them, the control signal represents the voltage regulation signal obtained after the motor angle is electrically analyzed, which is used to drive the motor to output the corresponding voltage component in order to control the energy distribution and torque generation of the permanent magnet synchronous motor.

[0030] For example, firstly, upon entering the current cycle, the predicted speed obtained in the previous cycle under the corresponding observation mode is read. This predicted speed is then differentially calculated with the target speed set for the current cycle to obtain the speed deviation for the current cycle. Secondly, proportional and integral calculations are performed on this speed deviation. On one hand, the proportional component generates a corresponding response signal based on the instantaneous amplitude of the speed deviation to immediately correct the deviation of the current speed. On the other hand, the integral component generates a compensation signal based on the cumulative trend of the speed deviation over time to suppress steady-state errors in the long term. Based on this, the two components are superimposed to obtain the initial control signal.

[0031] Next, a coordinate transformation is performed on the initial control signal to align it spatially with the direction of the motor's rotating magnetic field, ensuring that the phase of the control signal is synchronized with the magnetic field. After the transformation, the amplitude of the result is limited and adjusted to ensure that the amplitude of the control signal meets the requirements of the motor's voltage output range. Finally, before the end of the current cycle, the adjusted control signal is output to the drive circuit to drive the motor to perform the corresponding voltage output in the next control cycle.

[0032] Based on this, the process is executed cyclically within each motor control cycle, so that the real-time update result of the predicted speed is used again for deviation calculation in the next cycle, realizing a continuous closed-loop calculation process, and keeping the motor speed data synchronously calculated and dynamically responded in the time dimension.

[0033] In the aforementioned intelligent control method for permanent magnet synchronous motors based on Hall position signals and flux linkage observers, firstly, by analyzing the signal change characteristics of the Hall position signals, the motor angle and speed information are obtained, thus establishing an initial quantitative basis for the motor's operating state. On one hand, if the motor is determined to be operating at low speed based on the motor speed, the motor angle is used as a reference to continue observing the motor based on the Hall position signals, using the motor speed as the predicted speed, thereby achieving efficient sensor-based observation in the low-speed range. On the other hand, if the motor is determined to be operating at medium to high speed based on the motor speed, the motor angle is used as a reference to re-observe the motor based on the flux linkage observer. The system measures the predicted speed to achieve accurate sensorless observation in the medium-to-high speed range. Finally, electrical analysis is performed based on the speed deviation between the predicted and target speeds to adaptively generate control signals for voltage output control. Based on this, the entire technical solution constructs corresponding observation modes for the low-speed and medium-to-high-speed ranges, dynamically switching the appropriate observation mode under different motor operating conditions to form a continuous observation and control link. This ensures smooth transmission of angle data and stable feedback of speed data across all speed ranges, thus adaptively achieving seamless drive and highly consistent closed-loop control response across the entire speed domain.

[0034] In an exemplary embodiment, obtaining the Hall position signal corresponding to a preset permanent magnet synchronous motor includes step S201.

[0035] Step S201: Based on the three Hall sensors that are pre-uniformly configured on the rotor of the permanent magnet synchronous motor, the three-phase Hall position signals are obtained; wherein, the Hall position signals correspond to the six Hall state combinations generated by the rotor in each revolution, and each Hall state combination corresponds to a different discrete position interval of the rotor.

[0036] For example, firstly, three Hall sensors are evenly arranged on the circumference of the rotor, with a consistent spatial spacing angle between them. This means that the spatial spacing angle between each Hall sensor is 120 degrees, allowing for the generation of output signals with a fixed phase difference as the motor rotor rotates. Secondly, as the magnetic poles of the permanent magnets on the rotor alternately pass through the sensor positions, the Hall sensors output high and low level signals based on the change in magnetic field polarity. These signals form three square wave signals with a phase difference on the time axis, i.e., three-phase Hall position signals.

[0037] Subsequently, the Hall position signals of the three phases are synchronously sampled during each motor control cycle, such as... Figure 2 As shown, when the three Hall sensors are labeled A, B, and C respectively, during the forward rotation of the motor, each Hall sensor outputs a square wave signal with a 180-degree pulse and a 120-degree phase difference. This characteristic is similar to the six-step commutation mechanism of a brushless DC motor. Based on this, the current Hall state combination is determined by the logic combination of high and low levels, thereby determining the discrete position range of the rotor. Specifically, since each Hall state combination corresponds to a fixed range in the rotor's electrical angle, six Hall state combinations will appear sequentially within a complete mechanical rotation cycle. For example... Figure 2 As shown, the Hall states output by the three Hall sensors A, B, and C can form six different three-bit binary combinations, namely 001, 011, 010, 110, 100, and 101 respectively. Thus, the three-phase Hall position signals divide the 360-degree electrical angle period into six discrete position intervals of the same 60-degree range. The current Hall state combination can be uniquely determined under any rotation angle of the motor rotor. Therefore, through this periodic state detection, the relative position distribution information of the rotor in space can be obtained.

[0038] In addition, to ensure the reliability of the acquisition results, a preset anti-interference filter circuit is configured at the input port of the Hall position signal to suppress false triggering caused by electromagnetic switches or external noise. At the same time, a state anti-jitter logic is set in the preset control program to perform time judgment on two consecutive acquisition results to ensure that the signal change truly reflects the rotor movement rather than instantaneous disturbance.

[0039] In this embodiment, on the one hand, three-phase Hall position signals are acquired by three Hall sensors evenly arranged on the circumference of the motor rotor, thereby forming a periodic output with a fixed phase difference during rotor rotation, providing a timing basis for subsequent position determination; on the other hand, the signals are combined and judged according to the high and low level changes of the Hall position signals, thereby determining the current corresponding Hall state combination, so that the discrete position interval of the rotor within one mechanical rotation cycle can be accurately distinguished; furthermore, the correspondence between electrical angle and time is established according to the sequential changes of the Hall state combinations, thereby realizing continuous tracking of the rotor's spatial position; based on this, in the entire technical solution, the real-time identification of the motor rotor position can be achieved through Hall position signals, providing a stable and reliable data foundation for further motor angle calculation and motor speed calculation.

[0040] In an exemplary embodiment, three-phase Hall position signals are acquired based on three Hall sensors pre-uniformly configured on the rotor of a permanent magnet synchronous motor, including steps S301 to S303.

[0041] Step S301: The output signals from the three Hall sensors are read multiple times to obtain the reading results, and a majority vote is performed based on the reading results to obtain a valid Hall state combination.

[0042] For example, the output signals from three Hall sensors are continuously read and judged multiple times to obtain a true and valid Hall state combination. Specifically, firstly, the three Hall sensors synchronously acquire high and low level signals generated by magnetic pole changes within the sampling period. However, because the Hall sensors may experience momentary glitches or jitters at the signal edges when affected by factors such as electromagnetic interference, temperature drift, or mechanical vibration, the level state at the same sampling moment needs to be continuously read multiple times within each sampling period to obtain multiple reading results corresponding to the same sampling moment. Then, the multiple reading results corresponding to the same sampling moment are subjected to majority voting processing, and based on all possible Hall state combinations, it is determined whether the Hall state combination corresponding to the corresponding sampling moment is a valid Hall state combination, thereby achieving signal anti-interference and stabilization in the time domain.

[0043] For example, firstly, the controller operates for a 20ms delay after power-on to ensure power stability. Then, based on the analog-to-digital converter with filtering function pre-configured at the Hall position signal input port, the analog Hall position signal acquired by the Hall sensor is converted into a digital signal. On this basis, five consecutive Hall position signals corresponding to the same sampling time are read and converted into Hall state combinations represented by a three-bit binary combination. If three consecutive or any three of the five readings constitute a Hall state combination, it is determined to be... Figure 2 If the same Hall state combination appears in any of the five tests (e.g., one of 001, 011, 010, 110, 100, 101), then the Hall state combination is considered valid; if the same Hall state combination appears in three consecutive tests out of five tests, then the Hall state combination is considered valid. Figure 2 If the same Hall state combination cannot occur (e.g., 000 or 111), then the Hall state combination is invalid and triggers fault protection, such as shutting down the PWM output and triggering an alarm.

[0044] Step S302: Determine the corresponding three-phase conduction sequence based on the Hall state combination, and apply a square wave voltage signal with a preset duty cycle to the three-phase conduction sequence to generate a step-type rotating magnetic field.

[0045] For example, firstly, based on each valid Hall state combination within the sampling period, it is matched with a pre-established conduction phase sequence table to determine the three-phase conduction sequence within the sampling period in the time dimension. This conduction phase sequence table defines the conduction relationship of the three-phase windings; each Hall state combination corresponds to a specific set of conduction states, and each set of conduction states corresponds to a specific conduction phase and a floating phase, thus giving the signal conversion a fixed logical mapping relationship. Subsequently, according to the conduction sequence reflected by the three-phase conduction sequence, a square wave voltage signal with a fixed duty cycle is applied to the output terminals of the three Hall position signals. This square wave voltage signal switches the conduction state of the corresponding output terminals at a fixed period, thereby forming a progressively advancing phase sequence mode in time through the phase difference of the three outputs, resulting in a step-by-step change in the spatial electrical angle of the output signal.

[0046] Based on this, by maintaining a stable and periodic application process of the square wave voltage signal, the Hall position signal forms a uniform voltage pulse rhythm in the time dimension, thereby ensuring the repeatability of the sampling timing and signal edges. Finally, the three-phase output signals form a rotating magnetic field signal sequence with equal steps at the logic level, namely a step-type rotating magnetic field, whose level change pattern can accurately reflect the rotation trend of the motor rotor magnetic field.

[0047] In step S303, when a Hall state combination jump is detected, periodic commutation processing is performed according to the stepping rotating magnetic field to obtain periodic commutation results, and three-phase Hall position signals are generated based on the periodic commutation results.

[0048] For example, during continuous sampling times, the effective Hall state combinations output by the three Hall sensors are monitored in real time, and the Hall state combination at the current sampling time is logically compared with the Hall state combination at the previous sampling time. When a change in the state code is detected, it is determined that a jump condition has occurred in the Hall state combination. This jump condition corresponds to the rotor magnetic pole crossing the magnetic field boundary of the adjacent Hall sensor. Therefore, according to the level change law reflected by the step-rotating magnetic field, a preset commutation logic needs to be executed to make the three-phase conduction state at the output end switch sequentially, so that the commutation logic is consistent with the rotation direction of the magnetic field space, thereby ensuring the continuity of phase transition and the physical consistency of conduction switching.

[0049] During commutation, to ensure signal conversion stability, the input signal is briefly held and de-jittered after a state transition is detected to eliminate misjudgments caused by Hall edge jitter. Then, the phase sequence of the next conduction state is determined based on the step-rotating magnetic field. Based on this, through periodic commutation, a temporal mapping relationship between the Hall state combination and the magnetic field rotation direction is gradually established. This allows for the formation of periodic commutation results with electrical angular continuity, using the phase evolution law of the magnetic field rotation as a reference.

[0050] Finally, based on the periodic commutation result, a periodic level change with a fixed phase difference is formed in the time dimension to perform structured adjustment and mapping of the original output signal of the Hall sensor in the time domain, thereby reconstructing the corresponding three-phase Hall position signal. This signal not only reflects the change of Hall state combination, but also keeps in line with the rotation trend of the spatial magnetic field, realizing the synchronous correspondence between electrical phase and physical magnetic field, and providing continuous and traceable position information input for subsequent angle and speed calculations.

[0051] In this embodiment, firstly, by repeatedly reading and majority voting the output signals of the three Hall sensors, signal jitter and transient interference are effectively suppressed, ensuring the stability and authenticity of the acquired Hall state combinations. Secondly, a corresponding three-phase conduction sequence is determined based on the Hall state combinations, and a square wave voltage signal with a fixed duty cycle is applied to the three-phase output terminals, thereby forming a rotating magnetic field that is continuous in time and stepped in space, enabling the Hall position signal to have trackable electrical angle changes. Thirdly, periodic commutation processing is performed based on the detected Hall state transitions and the level change law of the stepped rotating magnetic field, thereby maintaining the conduction sequence consistent with the magnetic field rotation direction and generating a three-phase Hall position signal with continuous phase. Based on this, a complete detection link from signal acquisition and phase sequence matching to time sequence commutation is constructed in the entire technical solution, realizing the continuous expression of the Hall position signal in time and space.

[0052] In an exemplary embodiment, signal change feature analysis is performed on the Hall position signal to obtain the motor angle and motor speed corresponding to the permanent magnet synchronous motor, including steps S401 to S402.

[0053] Step S401: Based on the jumping characteristics of the Hall position signal, determine the motor angle range obtained by the switching time of adjacent Hall state combinations, and perform linear interpolation on the motor angle range according to the preset average electric angular velocity to obtain the motor angle corresponding to the permanent magnet synchronous motor.

[0054] For example, during the motor control cycle, the transition status of the three Hall position signals is monitored in real time. When a change in the Hall state combination is detected, the moment of the change is recorded. and its corresponding electrical angle Furthermore, at two adjacent moments of change... and Between these intervals, the motor rotor magnetic poles complete a rotation within a fixed motor angle range in space, and based on this, the time interval between two consecutive changes in the motor angle range is determined. Perform ratio calculations to determine the average electrical angular velocity corresponding to the motor's angular range. Furthermore, based on the average electric angular velocity By performing linear interpolation on the motor angle range, the motor angle of the permanent magnet synchronous motor at any time t within that range can be obtained. : (1) In equation (1), the original discrete Hall state is extended into a continuous angle sequence in the time dimension by linear interpolation, so that the electrical angle change of the Hall signal in each motor angle interval is transformed from abrupt change to smooth transition, thus eliminating the discontinuity caused by state jump.

[0055] Furthermore, such as Figure 3As shown, when the three Hall sensors are labeled A, B, and C respectively, during the forward rotation of the motor, based on the three continuous angle sequences obtained by the above linear interpolation, each Hall sensor outputs a square wave signal with a 180-degree pulse and a 120-degree phase difference, thereby forming six different Hall state combinations. Each Hall state combination corresponds to a discrete position interval of 60 degrees for the motor rotor in space. Furthermore, six different Hall state combinations are matched with a preset conduction phase sequence table to determine which two phase windings are conducting and which phase winding is floating under each Hall state combination. For example, when the Hall state combination is 001, the A-phase voltage corresponding to Hall sensor A is forward conducting (i.e., +V), the B-phase voltage corresponding to Hall sensor B is reverse conducting (i.e., -V), and the C-phase voltage corresponding to Hall sensor C is floating (i.e., floating to ground). Based on this, the three-phase voltage switches between the three states of +V, 0, and -V according to the square wave signal output by the Hall sensor, thereby generating a three-phase conduction sequence represented in the form of a rectangular wave to reflect the motor winding drive voltage after the Hall position signal is processed by phase sequence logic.

[0056] Subsequently, to represent the three-phase conduction sequence in the spatial form of the motor magnetic field, the three-phase conduction sequence is substituted into a three-phase sinusoidal function relationship to perform sinusoidal conversion on the voltage signals of each phase, so that the voltage values ​​are distributed in space in the form of a sinusoidal wave. Specifically, the midpoint of the forward conduction interval of the three-phase conduction sequence corresponds to the peak of the sine wave, the midpoint of the reverse conduction interval corresponds to the trough of the sine wave, and the midpoint between adjacent peaks and troughs corresponds to the zero point of the sine wave (i.e., the midpoint of the voltage floating interval corresponds to the zero point of the sine wave); thus, the three-phase sinusoidal function relationship between the A-phase voltage, B-phase voltage, and C-phase voltage can be expressed as follows: , , Based on this, after sinusoidal conversion, the three-phase square wave voltage signal, which originally could only reflect discrete conduction states, is expanded into a three-phase sinusoidal voltage signal that can continuously describe the rotational characteristics of the rotor magnetic field, thus providing the motor with a continuously differentiable angle input basis in the analysis and control process.

[0057] Step S402: Based on the jumping characteristics of the Hall position signal, combined with the number of pole pairs of the permanent magnet synchronous motor and the number of jumping times per revolution, the initial motor speed is obtained. The initial motor speeds calculated under a preset number of consecutive cycles are then filtered by a moving average to obtain the motor speed corresponding to the permanent magnet synchronous motor.

[0058] For example, during the motor control cycle, the transition status of the three Hall position signals is monitored in real time, and any change moment of the Hall state combination is recorded. With the next moment of change The time interval between Furthermore, in one motor control cycle, the Hall state combination transitions six times. Therefore, combined with the number of motor pole pairs... Regarding motor speed Perform the calculation: (2) In equation (2), the time interval between the changes of adjacent Hall state combinations is used to determine the rotation time required for the motor rotor to complete a fixed motor angle range. Based on this, the time is converted into the number of rotations per unit time, thereby obtaining the motor speed per minute.

[0059] Furthermore, to eliminate instantaneous speed fluctuations caused by motor operation jitter, Hall edge detection errors, or inverter noise, a moving average filtering operation is performed on the continuously calculated speed sequence. For example, this is applied to the motor speeds corresponding to the (k-2), (k-1), and kth consecutive fixed motor angle intervals. , , Perform a moving average filtering operation to obtain the average speed value, which is then used as the smooth speed output for the current k-th fixed motor angle interval.

[0060] In this embodiment, on the one hand, the motor angle range maintained by the Hall state combination is determined based on the jump characteristics of the Hall position signal, and the motor angle range is linearly interpolated by combining the average electrical angular velocity, thereby making the originally discrete Hall position signal continuous in the time dimension and ensuring a smooth transition of the phase change of the motor angle; on the other hand, the initial motor speed is calculated based on the jump characteristics of the Hall position signal and the number of motor pole pairs, and the influence of electrical noise and instantaneous fluctuations on the speed calculation is suppressed by using moving average filtering, thereby obtaining a stable and reliable motor speed; based on this, in the entire technical solution, high-precision acquisition of motor angle and motor speed is achieved by processing the Hall position signal continuously in both the angle and speed dimensions.

[0061] In an exemplary embodiment, signal change feature analysis is performed on the Hall position signal to obtain the motor angle and motor speed corresponding to the permanent magnet synchronous motor, including steps S501 to S503.

[0062] Step S501: Based on the signal change characteristics analysis of the Hall position signal, the initial motor angle is obtained.

[0063] Step S502: Obtain the angle deviation based on the difference between the preset target motor angle and the initial motor angle.

[0064] Step S503: Based on the proportional and integral components configured in the phase-locked loop circuit, the angle deviation is closed-loop converged until the angle deviation converges to zero, thereby obtaining the motor angle and motor speed generated by the permanent magnet synchronous motor during the closed-loop feedback process.

[0065] Among them, the phase-locked loop (PLL) circuit represents a closed-loop feedback control structure based on phase comparison and frequency adjustment, which is used to keep the phase of the output signal consistent with the phase of the input reference signal, thereby achieving phase synchronization and frequency tracking in dynamic processes.

[0066] The target motor angle represents the ideal electrical angle that the phase-locked loop circuit expects to achieve under steady-state conditions. It is used as a reference input signal for closed-loop feedback to guide the tracking and adjustment of the actual electrical angle. In other words, the target motor angle corresponds to the reference phase determined by the theoretical rotational position of the motor's magnetic field.

[0067] For example, the phase-locked loop circuit exhibits higher rotor position prediction accuracy at low speeds. When the speed error between the calculated motor speed and the given reference speed is small, the phase error between the input and output can be regarded as a linear proportional relationship by using a small angle approximation. Thus, the phase-locked loop circuit can be approximated as a typical second-order closed-loop system, thereby retaining its core dynamic characteristics while ignoring nonlinear terms.

[0068] Based on this Figure 4 A schematic diagram of the equivalent structure of a phase-locked loop (PLL) circuit is shown. The specific implementation method is as follows: First, at the input terminal of the PLL circuit, the given target motor angle is... The estimated electrical angle output from the phase-locked loop circuit By comparing the two, the difference is the angular deviation. This error signal characterizes the deviation between the actual magnetic pole position of the motor and the estimated position by the phase-locked loop (PLL) circuit, and is the driving source for the entire PLL control. Furthermore, during initial operation, if the PLL circuit has not yet established a feedback loop, the initial motor angle obtained by analyzing the signal change characteristics of the Hall position signal will be used as the initial estimated electrical angle input to the PLL circuit. This is to ensure that the phase-locked loop circuit has a reasonable phase starting point.

[0069] Furthermore, the angle deviation is controlled by a proportional-integral (PI) controller. The controller is adjusted by a proportional element. With points This circuit is composed of components used for dynamic correction and steady-state compensation of the output signal based on the error amplitude and its rate of change. The proportional element provides rapid response, allowing the output angular velocity to immediately correct for changes in phase error; while the integral element accumulates historical errors, enabling complete locking of the input signal during the steady-state phase, achieving a near-zero error state. Furthermore, by adjusting the proportional and integral coefficients, the phase-locked loop (PLL) circuit can automatically balance response speed and stability across different speed ranges, suppressing chatter and noise under low-speed conditions while maintaining high-precision phase tracking under high-speed conditions, thus providing a stable, continuous, and smooth output of motor angle and speed estimation results.

[0070] Furthermore, based on the proportional element in the controller With points Output estimated angular velocity And through the points system By summing the results, we can obtain the estimated electrical angle. This integration process reflects the physical evolution from angular velocity to angle, enabling the phase-locked loop circuit to continuously update the estimation results of the motor rotor's spatial position in the time domain. Furthermore, it estimates the electrical angle... Feedback to the input and the target motor angle in the next sampling period When compared again, this forms a closed-loop feedback structure.

[0071] If the angle deviation If the value is not zero, the phase-locked loop circuit will recalculate based on the corresponding angle deviation. Automatically adjust estimated angular velocity With estimation of electrical angle The output is iteratively updated between consecutive sampling periods until the phase-locked loop circuit reaches the angular deviation under steady-state conditions. Converging to zero, i.e., estimating the electrical angle. Angle with the target motor Once synchronization is achieved, the estimated electrical angle at this point will be... and the corresponding estimated angular velocity As the motor angle and motor speed generated during the closed-loop feedback process of the permanent magnet synchronous motor, it enables continuous, stable, and high-precision calculation of motor position and speed.

[0072] In this embodiment, firstly, the initial motor angle is obtained by analyzing the signal change characteristics of the Hall position signal, thus enabling the phase-locked loop circuit to have a precise phase starting point. Secondly, the angle deviation is obtained based on the difference between the preset target motor angle and the initial motor angle, thereby establishing a quantitative basis for the deviation between the actual electrical angle and the estimated electrical angle, providing input parameters for subsequent feedback adjustment. Thirdly, based on the proportional and integral components configured in the phase-locked loop circuit, the angle deviation is closed-loop converged to continuously correct the output until the motor angle and motor speed generated in the closed-loop feedback process are obtained. Based on this, in the entire technical solution, by introducing a phase-locked closed-loop feedback mechanism based on the Hall position signal, high-precision estimation and continuous tracking of the motor angle and speed are achieved, providing reliable feedback support for the stable operation of the permanent magnet synchronous motor.

[0073] In an exemplary embodiment, if the motor speed is greater than or equal to a preset speed switching threshold, the permanent magnet synchronous motor is re-observed based on a preset flux linkage observer with the motor angle as a reference to obtain the predicted speed of the permanent magnet synchronous motor, including steps S601 to S603.

[0074] Step S601: If the motor speed is greater than or equal to the preset speed switching threshold, then with the motor angle as a reference, obtain the three-phase stator current and three-phase stator voltage corresponding to the permanent magnet synchronous motor, and convert them into current components and voltage components in a preset two-phase stationary coordinate system.

[0075] For example, when the permanent magnet synchronous motor's speed enters the medium-to-high speed range, the motor angle, pre-calculated based on the Hall position signal, is first used as a coordinate reference to determine the reference direction of the motor's magnetic field in the spatial coordinate system. Subsequently, the acquired three-phase stator current and three-phase stator voltage are converted from analog signals to digital signals using an analog-to-digital converter, and phase alignment and sampling timing correction are performed at the motor angle to ensure complete consistency of the voltage and current time references. Furthermore, after alignment, the three-phase stator current and three-phase stator voltage are projected onto a two-phase static α-β coordinate system using Clarke transform, thereby obtaining the voltage and current components on the α and β axes.

[0076] Based on this, the transformation process essentially simplifies the three-dimensional space into a two-dimensional planar expression, enabling the electrical characteristics of the motor to be analyzed in planar vectors, reducing redundant calculations, and providing a mathematically unified basic expression for subsequent flux linkage observation and speed calculation.

[0077] Step S602: Convert the current and voltage components in the two-phase stationary coordinate system into the direct-axis and quadrature-axis components in the preset two-phase rotating coordinate system.

[0078] For example, after obtaining the voltage and current components in the two-phase stationary α-β coordinate system, it is necessary to further correlate them with the direction of the rotor magnetic field to achieve dynamic tracking; therefore, the Park transformation is used to correlate the two-phase stationary... The voltage and current components of the coordinate system are mapped to a two-phase rotating dq coordinate system with the rotor magnetic field as the reference. Specifically, during the transformation process, using the rotor magnetic field as the rotating coordinate reference, the voltage and current components on the α and β axes undergo sine and cosine transformations to decompose the vector signal in the two-phase stationary α-β coordinate system into two parts: one along the magnetic field direction and the other perpendicular to the magnetic field direction, thus forming the d-axis and q-axis components in the two-phase rotating dq coordinate system. Through the above sine and cosine transformation process, the stator electrical signal can perform phase tracking with the change of rotor angle in the time dimension, thereby realizing the dynamic switching from the stationary reference system to the rotating reference system.

[0079] Step S603: Based on the flux linkage observer pre-constructed on the extended back EMF model, the flux linkage components in the two-phase stationary coordinate system are calculated by combining the direct-axis and quadrature-axis components in the two-phase rotating coordinate system. The flux linkage space vector formed by the flux linkage components is normalized by the pole pairs to obtain the predicted speed of the permanent magnet synchronous motor.

[0080] Among them, the extended back EMF model introduces additional current dynamic terms and flux linkage state variables on the basis of the traditional back EMF equation, which is used to more accurately describe the dynamic coupling relationship between voltage, current and flux linkage on the stator side of the permanent magnet synchronous motor under medium and high speed operating conditions.

[0081] Among them, the flux linkage observer built based on the extended back EMF model means that the extended back EMF model is used as the mathematical basis. By introducing the voltage, current and their rate of change relationship in the stator voltage equation, an observation structure is built to estimate the flux linkage components in real time, so as to calculate the rotor magnetic field state and speed of the motor without position sensors.

[0082] For example, firstly, in the flux linkage observer, according to the stator voltage equation, the voltage component in the two-phase stationary α-β coordinate system is subtracted from the resistance voltage drop term composed of the stator resistance and current components. The difference corresponds to the flux linkage rate of change. Then, by integrating this flux linkage rate of change in the time domain, the change in flux linkage per unit time is accumulated, and this is successively superimposed on the initial value of flux linkage in the previous sampling period, thereby obtaining the flux linkage components on the α and β axes. Thus, this integration process mathematically completes the time-domain mapping from voltage change to flux linkage change, transforming the coupling relationship between voltage and current in the time dimension into the spatial distribution characteristics of flux linkage.

[0083] Subsequently, based on the d-axis and q-axis components in the two-phase rotating dq coordinate system, the flux linkage components on the α-axis and β-axis are spatially reprojected into the two-phase rotating dq coordinate system with the motor angle as a reference, in order to construct a flux linkage space vector that reflects the dynamic characteristics of the rotor magnetic field. This flux linkage space vector physically represents the spatial distribution state of the flux linkage in the electromagnetic field, and its phase change can be used to describe the rotation trajectory of the rotor magnetic poles.

[0084] Furthermore, based on the dynamic coupling relationship defined in the extended back EMF model, the flux linkage space vector is normalized by the number of pole pairs. That is, by taking the time derivative of the phase change of the flux linkage space vector and dividing it by the number of motor pole pairs, the predicted speed corresponding to the rotor mechanical angular velocity is obtained. Based on this, through the above process, the flux linkage observer realizes the derivation and calculation from the stator electrical signal to the rotor motion characteristics, ensuring the consistency of the predicted speed with the actual motor operating state in terms of phase and amplitude.

[0085] In this embodiment, firstly, when the motor speed is greater than or equal to the speed switching threshold, the three-phase stator current and three-phase stator voltage are converted into current and voltage components in a two-phase stationary coordinate system, thereby expressing the stator electrical signals in a unified reference system. Secondly, based on the converted voltage and current components, they are mapped to the direct-axis and quadrature-axis components in a two-phase rotating coordinate system with the rotor magnetic field as the reference, facilitating subsequent tracking of the flux linkage state. Thirdly, based on the flux linkage observer, the flux linkage space vector is calculated by combining the direct-axis and quadrature-axis components, and the predicted speed is obtained by normalizing the number of pole pairs, thereby realizing the dynamic mapping of electrical quantities to mechanical quantities. Based on this, in the entire technical solution, the continuous mapping of electrical parameters and flux linkage changes in the medium-to-high speed range is realized, ensuring the consistency between the predicted speed and the actual motor speed in terms of dynamic response and phase matching.

[0086] In an exemplary embodiment, the control signal is obtained by electrical analysis of the speed deviation, including steps S701 to S704.

[0087] Step S701: Adjust the speed deviation according to the preset PI controller to obtain the current command in the preset two-phase rotating coordinate system.

[0088] For example, the PI controller consists of a proportional element and an integral element. On the one hand, the proportional element directly generates a control quantity proportional to the speed deviation by multiplying the speed deviation by a preset proportional coefficient. This quantity is used to reflect the instantaneous response of the current speed change, enabling the output to quickly adjust for the speed error. On the other hand, the integral element accumulates historical deviations over time and integrates the error in the time domain to generate a cumulative error compensation quantity to offset the steady-state error caused by load disturbances or system parameter fluctuations.

[0089] Subsequently, the outputs of the proportional and integral circuits are superimposed at the signal level to obtain a comprehensively regulated current command. This current command includes direct-axis and quadrature-axis components in a two-phase rotating coordinate system, representing the desired current output of the motor in the excitation and torque directions, respectively; furthermore, the direct-axis component is zero. Based on this, the speed deviation is converted into a current command that can be directly reflected in the electromagnetic energy transfer path, thus achieving a physical closed-loop expression of the speed deviation at the current level.

[0090] Step S702: The current command is converted from the two-phase rotating coordinate system to the preset two-phase stationary coordinate system to obtain the voltage space vector and the spatial sector where the phase angle of the voltage space vector is located in the two-phase stationary coordinate system.

[0091] For example, by inverse Park transformation, the direct-axis and quadrature-axis components of the current command in the two-phase rotating coordinate system are converted to the two-phase stationary coordinate system. Specifically, by using sine and cosine mapping, the control signal that originally rotates with the rotor magnetic field is represented as a voltage component with a fixed phase in the stationary reference system, thereby facilitating the inverter to perform voltage modulation in the stationary reference system.

[0092] After the transformation is completed, the voltage components on the α-axis and β-axis of the two-phase stationary coordinate system can form a voltage space vector in a two-dimensional plane. Its amplitude represents the effective value of the motor stator terminal voltage, and the phase angle reflects the spatial phase of the voltage space vector relative to the α-axis.

[0093] To further determine the time-domain range of the voltage space vector, its spatial sector needs to be determined based on its phase angle. The entire voltage space is divided into six equal regions, each corresponding to a spatial sector. Based on this, by calculating the positional relationship between the phase angle of the voltage space vector and the boundaries of each spatial sector, the spatial sector containing the phase angle of the voltage space vector can be accurately determined. This transforms the current-level regulation results into a voltage space description usable for inverter control, completing the transition from the current control domain to the voltage control domain. This allows subsequent modulation logic to perform precise timing control with a fixed spatial reference.

[0094] Step S703: Select adjacent voltage fundamental vectors according to the spatial sector, and calculate the action time of the adjacent voltage fundamental vectors and the action time of the zero vector to obtain the calculation results.

[0095] For example, the entire voltage space is divided into six equal regions, each consisting of two sets of adjacent voltage fundamental vectors and a zero vector. After determining the spatial sector where the voltage space vector is located, the projection component of the voltage space vector within that sector is calculated based on the direction and magnitude of the two sets of voltage fundamental vectors corresponding to that sector. Based on this, by geometrically decomposing the voltage space vector along the directions of adjacent voltage fundamental vectors, the time weighting factors of the two sets of voltage fundamental vectors can be obtained. These time weighting factors represent the effective duration of each voltage fundamental vector within a complete PWM cycle.

[0096] Furthermore, to ensure time balance throughout the PWM cycle, the duration of the zero vector needs to be calculated so that the sum of the durations of the two voltage base vectors and the zero vector equals the cycle time of the entire PWM cycle.

[0097] Finally, by solving for the duration of the three voltage vectors, a mapping relationship from the spatial vector position to the time ratio was established. Specifically, in this process, the positional relationship of the three voltage vectors in space was quantified into the time ratio distribution within the PWM cycle, so that the inverter can apply the switching states corresponding to each voltage vector in a proportional manner in terms of timing.

[0098] Therefore, this process essentially transforms the spatial voltage synthesis problem into a time allocation problem. By accurately solving the action time of the three sets of voltage vectors, the inverter can approximate the direction and amplitude of the specified voltage vector in the time domain through linear superposition, thereby ensuring the smoothness and phase continuity of the output voltage waveform.

[0099] Step S704: Perform timing analysis on the calculation results according to the timing logic based on space vector pulse width modulation to obtain the switching signals corresponding to the preset number of power transistors in the preset inverter, which are used as control signals.

[0100] For example, firstly, within a complete PWM cycle, based on the time ratio between the two sets of fundamental voltage vectors and the zero vector, and using the phase angle of the voltage space vector as a reference, the PWM cycle time is divided into three continuous conduction intervals. During this division, the effective conduction time of the two sets of fundamental voltage vectors within a PWM cycle is determined based on their amplitude and direction in space. The conduction interval of one fundamental voltage vector is located in the first half of the cycle, and the conduction interval of the other fundamental voltage vector is located in the second half of the cycle. Simultaneously, the conduction time of the zero vector is symmetrically configured at the beginning and end positions of the cycle. Based on this time allocation relationship, the three sets of voltage vectors achieve precise superposition of amplitude and phase in the time domain, enabling continuous change in the instantaneous synthesis direction of the output voltage. This suppresses low-order harmonics while making the voltage waveform transition smoother.

[0101] Furthermore, based on the time ratio and time position relationships of the three sets of voltage vectors mentioned above, the voltage space vector is expanded on the physical channels of the three-phase bridge arms. The on-time and off-time of the voltage components on each bridge arm are calculated, and PWM signals for the six power transistors are generated accordingly. During this process, based on the spatial phase offset of the voltage space vector, the PWM signals of the three-phase bridge arms maintain a 120° phase difference in electrical angle, thereby achieving continuous rotation of the voltage space vector in the time domain. In addition, to prevent simultaneous conduction of adjacent power transistors leading to a short circuit on the DC bus, a dead time is introduced between adjacent bridge arms when generating the PWM signal, providing a safety delay between the on and off intervals of the power devices. Therefore, this timing logic configuration ensures that the switching process is electrically stable and energy transfer is continuous.

[0102] As the six PWM signals periodically switch between the three-phase bridge arms, the inverter output voltage forms an approximately sinusoidal voltage space vector on the stator three-phase windings. The rotation of the voltage space vector drives the stator magnetic field to rotate synchronously, thereby achieving precise voltage modulation output from the inverter to the motor stator windings. Furthermore, a dynamic drive feedback link can be formed during the speed closed-loop control process, enabling the motor speed to stably track the target speed and achieving synchronous closed-loop control in the electrical and mechanical domains.

[0103] In this embodiment, firstly, the speed deviation is adjusted according to the PI regulator to achieve dynamic compensation for the speed error in the time domain, resulting in a current command in a two-phase rotating coordinate system. Secondly, the current command is transformed from the two-phase rotating coordinate system to the two-phase stationary coordinate system according to the coordinate transformation relationship to determine the corresponding voltage space vector and its spatial sector, thus providing a unified phase reference for subsequent time allocation. Thirdly, based on the spatial sector where the voltage space vector is located, the action time of adjacent voltage basic vectors and zero vectors is calculated to establish the time ratio relationship of three sets of voltage vectors. Finally, the switching signals of six power transistors are generated according to the time ratio relationship to achieve dynamic modulation of the motor stator winding voltage. Based on this, in the entire technical solution, by coupling the speed deviation, current command, voltage space vector and PWM control process, closed-loop control of the permanent magnet synchronous motor in the time and spatial domains is realized, ensuring smooth and continuous output voltage and stable and accurate speed control.

[0104] In one exemplary embodiment, Figure 5 A schematic diagram of a motor control system is shown. This system acquires angle and speed information of a permanent magnet synchronous motor through two different observation paths, and dynamically switches and compares them within the motor control loop. Specifically, on the one hand, an observer based on Hall position signals... , , The motor's estimated angle is calculated by using three Hall position signals as input and analyzing their change characteristics. Compared with estimated speed On the other hand, the flux-based observer measures the voltage components on the α and β axes of the two-phase stationary coordinate system. and and current components and As input, and combined with stator resistance Permanent magnet flux Inductance components on the d-axis and q-axis of a two-phase rotating coordinate system and Another set of estimated angles was obtained through analytical derivation of stator voltage and current. Compared with estimated speed .

[0105] Next, the speed hysteresis comparison and determination module compares the estimated angle and estimated speed obtained from the two observation paths to determine the state switching under different operating ranges. Specifically, when the motor is in the low-speed range, the observation results based on the Hall position signal are used first; when the motor is in the medium-to-high-speed range, the observation results based on the flux linkage observer are switched to ensure high-precision angle and speed feedback under different operating conditions. Finally, based on the selected observation results... , By adjusting the output control signal, closed-loop regulation and stable control of the motor drive can be achieved.

[0106] Therefore, the hysteresis switching strategy executed by the speed hysteresis comparison and determination module can automatically determine the switching direction of the observation mode when the speed crosses the critical range, and maintain the current observation mode unchanged within the hysteresis range. This effectively avoids mode jitter caused by speed fluctuations in the critical speed range, and achieves uninterrupted control across the entire speed range from zero speed to 20,000 r / min. In addition, this hysteresis switching strategy makes full use of the complementary advantages of the two observation modes, enabling the motor to have high-performance load-bearing starting capability based on Hall position signals in the low-speed range, and to achieve high-precision speed and position estimation by relying on the flux observer in the medium and high-speed range, thereby ensuring that the motor maintains stable operation and consistent dynamic response across the entire speed range.

[0107] In one exemplary embodiment, Table 1 shows the relationship between the Hall position signal and the state of the three-phase full-bridge MOSFETs at different turning directions, specifically: Figure 1Taking the control process of the forward rotation direction as an example, when the output states of the three-phase Hall position signals are Hall W=1, Hall V=0, and Hall U=1 (i.e., 101), it is determined that the rotor magnetic poles are located in the initial segment of the electrical angle range. The corresponding conduction states are U+ conducting, V- conducting, and W phase floating, meaning U phase is connected to the positive bus voltage, V phase is grounded, and W phase is not energized. At this time, current flows into the stator winding from U phase and out through V phase, forming a fixed-direction electromagnetic torque that drives the rotor to rotate in the set direction.

[0108] As the rotor continues to rotate, the Hall position signal changes. For example, when it switches to 001, the conduction state immediately switches to U+ on, W- on, and V phase floating. The current direction changes accordingly, causing the magnetic field rotation angle to advance by 60 electrical degrees. Similarly, during forward rotation control, when the Hall position signal cycles in the order of 101, 001, 011, 010, 110, 000, the six MOSFETs of the three-phase bridge arm sequentially turn on and off. The energizing sequence of the stator windings continuously changes, forming a space voltage vector that rotates continuously with time, thereby generating a rotating magnetic field in the stator magnetic field synchronized with the rotor poles.

[0109] This process achieves six-step commutation control of the motor. By precisely triggering the switching of the MOSFET through the jump of the Hall position signal, the motor continuously outputs a stable electromagnetic torque, achieving orderly forward rotation.

[0110] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0111] Based on the same inventive concept, this application also provides a permanent magnet synchronous motor intelligent control system based on Hall position signals and flux linkage observers for implementing the aforementioned intelligent control method for permanent magnet synchronous motors based on Hall position signals and flux linkage observers. The solution provided by this system is similar to the implementation scheme described in the above method. Therefore, the specific limitations of one or more embodiments of the permanent magnet synchronous motor intelligent control system based on Hall position signals and flux linkage observers provided below can be found in the limitations of the intelligent control method for permanent magnet synchronous motors based on Hall position signals and flux linkage observers described above, and will not be repeated here.

[0112] In one exemplary embodiment, such as Figure 6 As shown, a permanent magnet synchronous motor intelligent control system based on Hall position signals and flux linkage observers is provided, including: an acquisition module 101, a first observation module 102, a second observation module 103, and an analysis module 104, wherein: The acquisition module 101 is used to acquire the Hall position signal corresponding to the preset permanent magnet synchronous motor, perform signal change feature analysis on the Hall position signal, and obtain the motor angle and motor speed corresponding to the permanent magnet synchronous motor. The first observation module 102 is used to observe the permanent magnet synchronous motor based on the Hall position signal, with the motor angle as a reference, if the motor speed is less than the preset speed switching threshold, so as to use the motor speed as the predicted speed of the permanent magnet synchronous motor. The second observation module 103 is used to observe the permanent magnet synchronous motor again based on the preset flux linkage observer if the motor speed is greater than or equal to the preset speed switching threshold, with the motor angle as a reference, so as to obtain the predicted speed of the permanent magnet synchronous motor. The analysis module 104 is used to calculate the speed deviation between the predicted speed and the preset target speed, and to perform electrical analysis on the speed deviation to obtain a control signal, which is used to control the voltage output of the permanent magnet synchronous motor and realize closed-loop speed control.

[0113] In an exemplary embodiment, the acquisition module 101 is further configured to: acquire three-phase Hall position signals based on three Hall sensors pre-uniformly configured on the rotor of the permanent magnet synchronous motor; wherein the Hall position signals correspond to six Hall state combinations generated by the rotor in each revolution, and each Hall state combination corresponds to a different discrete position interval of the rotor.

[0114] In an exemplary embodiment, the acquisition module 101 is further configured to: continuously read the output signals from the three Hall sensors multiple times to obtain the reading results of each reading, and perform majority voting processing based on the reading results of each reading to obtain a valid Hall state combination; determine the corresponding three-phase conduction sequence based on the Hall state combination, apply a square wave voltage signal with a preset duty cycle to the three-phase conduction sequence to generate a step-rotating magnetic field; when a Hall state combination jump is detected, perform periodic commutation processing based on the step-rotating magnetic field to obtain a periodic commutation result, and generate three-phase Hall position signals based on the periodic commutation result.

[0115] In an exemplary embodiment, the acquisition module 101 is further configured to: determine the motor angle range obtained by the switching time of adjacent Hall state combinations based on the jumping characteristics of the Hall position signal, and perform linear interpolation on the motor angle range based on the preset average electrical angular velocity to obtain the motor angle corresponding to the permanent magnet synchronous motor; obtain the initial motor speed based on the jumping characteristics of the Hall position signal, combined with the number of motor pole pairs of the permanent magnet synchronous motor and the number of jumping times per revolution, and perform moving average filtering on each initial motor speed calculated under a preset number of consecutive times to obtain the motor speed corresponding to the permanent magnet synchronous motor.

[0116] In an exemplary embodiment, the acquisition module 101 is further configured to: obtain the initial motor angle based on the signal change characteristics analysis of the Hall position signal; obtain the angle deviation based on the difference between the preset target motor angle and the initial motor angle; and perform closed-loop convergence of the angle deviation based on the proportional and integral elements configured in the phase-locked loop circuit until the angle deviation converges to zero, thereby obtaining the motor angle and motor speed generated by the permanent magnet synchronous motor in the closed-loop feedback process.

[0117] In an exemplary embodiment, the second observation module 103 is further configured to: if the motor speed is greater than or equal to a preset speed switching threshold, obtain the three-phase stator current and three-phase stator voltage corresponding to the permanent magnet synchronous motor with the motor angle as a reference, and convert them into current components and voltage components in a preset two-phase stationary coordinate system; convert the current components and voltage components in the two-phase stationary coordinate system into direct-axis components and quadrature-axis components in a preset two-phase rotating coordinate system; calculate the flux linkage components in the two-phase stationary coordinate system based on the flux linkage observer pre-constructed based on the extended back electromotive force model, combined with the direct-axis components and quadrature-axis components in the two-phase rotating coordinate system, and perform pole-pair normalization on the flux linkage space vector formed by the flux linkage components to obtain the predicted speed corresponding to the permanent magnet synchronous motor.

[0118] In an exemplary embodiment, the parsing module 104 is further configured to: adjust the speed deviation according to a preset PI regulator to obtain a current command in a preset two-phase rotating coordinate system; convert the current command from the two-phase rotating coordinate system to a preset two-phase stationary coordinate system to obtain the voltage space vector and the spatial sector where the phase angle of the voltage space vector is located in the two-phase stationary coordinate system; select adjacent voltage fundamental vectors according to the spatial sector, calculate the action time of the adjacent voltage fundamental vectors and the action time of the zero vector to obtain the calculation result; and perform timing parsing on the calculation result according to the timing logic based on space vector pulse width modulation to obtain the switching signals corresponding to a preset number of power transistors in the preset inverter, which are used as control signals.

[0119] The modules in the aforementioned intelligent control system for permanent magnet synchronous motors based on Hall position signals and flux linkage observers can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware within or independently of the processor in a computer device, or stored in software within the computer device's memory, allowing the processor to call and execute the corresponding operations of each module.

[0120] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the above embodiments.

[0121] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above embodiments.

[0122] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0123] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0124] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A permanent magnet synchronous motor intelligent control method based on Hall position signal and flux linkage observer, characterized in that, The method comprises: acquiring a Hall position signal corresponding to a preset permanent magnet synchronous motor, performing signal change characteristic analysis on the Hall position signal, and obtaining a motor angle and a motor speed corresponding to the permanent magnet synchronous motor; if the motor speed is less than a preset speed switching threshold, taking the motor angle as a reference, continuing to observe the permanent magnet synchronous motor based on the Hall position signal, and taking the motor speed as a predicted speed corresponding to the permanent magnet synchronous motor; if the motor speed is greater than or equal to the preset speed switching threshold, taking the motor angle as a reference, re-observing the permanent magnet synchronous motor based on a preset flux linkage observer, and obtaining the predicted speed corresponding to the permanent magnet synchronous motor; calculating a speed deviation between the predicted speed and a preset target speed, performing electrical analysis on the speed deviation to obtain a control signal, and using the control signal to control a voltage output of the permanent magnet synchronous motor and realize speed closed-loop control.

2. The method of claim 1, wherein, The acquisition of the Hall position signal corresponding to the preset permanent magnet synchronous motor comprises: acquiring three-phase Hall position signals according to three Hall sensors that are uniformly pre-configured on a rotor of the permanent magnet synchronous motor; wherein the Hall position signals correspond to six Hall state combinations generated by the rotor per revolution, and each Hall state combination corresponds to a different discrete position interval of the rotor.

3. The method of claim 2, wherein, The acquisition of the three-phase Hall position signals according to the three Hall sensors that are uniformly pre-configured on the rotor of the permanent magnet synchronous motor comprises: performing multiple continuous readings on output signals from the three Hall sensors to obtain reading results, and performing majority voting processing on the reading results to obtain a valid Hall state combination; determining a corresponding three-phase conduction sequence according to the Hall state combination, and applying a square wave voltage signal with a preset duty cycle to the three-phase conduction sequence to generate a step-type rotating magnetic field; when a Hall state combination jump is detected, performing periodic commutation processing according to the step-type rotating magnetic field to obtain a periodic commutation result, and generating three-phase Hall position signals according to the periodic commutation result.

4. The method of claim 1, wherein, The signal change characteristic analysis on the Hall position signal to obtain the motor angle and the motor speed corresponding to the permanent magnet synchronous motor comprises: determining a motor angle interval obtained from a switching time of adjacent Hall state combinations according to a jump characteristic of the Hall position signal, and performing linear interpolation on the motor angle interval according to a preset average electrical angular velocity to obtain the motor angle corresponding to the permanent magnet synchronous motor; obtaining an initial motor speed according to the jump characteristic of the Hall position signal and in combination with a motor pole pair number and a corresponding jump number per revolution of the permanent magnet synchronous motor, and performing sliding average filtering on each initial motor speed calculated for a preset continuous number of times to obtain the motor speed corresponding to the permanent magnet synchronous motor.

5. The method of claim 1, wherein, The signal change characteristic analysis on the Hall position signal to obtain the motor angle and the motor speed corresponding to the permanent magnet synchronous motor comprises: obtaining an initial motor angle according to the signal change characteristic analysis on the Hall position signal; According to the difference between the preset target motor angle and the initial motor angle, an angle deviation is obtained; According to the proportional link and the integral link configured by the phase-locked loop circuit, the angle deviation is closed-loop converged until the angle deviation converges to zero, and a motor angle and a motor speed generated by the permanent magnet synchronous motor in the closed-loop feedback process are obtained.

6. The method of claim 1, wherein, If the motor speed is greater than or equal to a preset speed switching threshold, the motor angle is taken as a reference, the permanent magnet synchronous motor is observed again based on a preset flux linkage observer, and a predicted speed corresponding to the permanent magnet synchronous motor is obtained, including: If the motor speed is greater than or equal to a preset speed switching threshold, the motor angle is taken as a reference, a three-phase stator current and a three-phase stator voltage corresponding to the permanent magnet synchronous motor are obtained, and the three-phase stator current and the three-phase stator voltage are converted into current components and voltage components in a preset two-phase stationary coordinate system; The current components and the voltage components in the two-phase stationary coordinate system are converted into direct-axis components and quadrature-axis components in a preset two-phase rotating coordinate system; According to a flux linkage observer constructed in advance based on an extended back electromotive force model, the direct-axis components and the quadrature-axis components in the two-phase rotating coordinate system are combined to calculate flux linkage components in the two-phase stationary coordinate system, the flux linkage space vector formed by the flux linkage components is subjected to pole pair number normalization, and a predicted speed corresponding to the permanent magnet synchronous motor is obtained.

7. The method of claim 1, wherein, The speed deviation is electrically analyzed to obtain a control signal, including: According to a preset PI regulator, the speed deviation is regulated to obtain a current command in a preset two-phase rotating coordinate system; The current command is converted from the two-phase rotating coordinate system to a preset two-phase stationary coordinate system to obtain a voltage space vector in the two-phase stationary coordinate system and a space sector in which a phase angle of the voltage space vector is located; According to the space sector, adjacent voltage basic vectors are selected, and the action time of the adjacent voltage basic vectors and the action time of zero vectors are calculated to obtain a calculation result; The calculation result is sequentially analyzed according to the timing logic based on the space vector pulse width modulation to obtain switching signals corresponding to a preset number of power tubes in a preset inverter as the control signal.

8. A permanent magnet synchronous motor intelligent control system based on Hall position signal and flux linkage observer, characterized in that, The system includes: An acquisition module is configured to acquire a Hall position signal corresponding to a preset permanent magnet synchronous motor, analyze a signal change characteristic of the Hall position signal, and obtain a motor angle and a motor speed corresponding to the permanent magnet synchronous motor; A first observation module is configured to, if the motor speed is less than a preset speed switching threshold, take the motor angle as a reference, and continue to observe the permanent magnet synchronous motor based on the Hall position signal to take the motor speed as a predicted speed corresponding to the permanent magnet synchronous motor; A second observation module is configured to, if the motor speed is greater than or equal to a preset speed switching threshold, take the motor angle as a reference, and observe the permanent magnet synchronous motor again based on a preset flux linkage observer to obtain a predicted speed corresponding to the permanent magnet synchronous motor. The analysis module is configured to calculate a speed deviation between the predicted speed and a preset target speed, and to obtain a control signal by electrically analyzing the speed deviation, so as to control a voltage output of the permanent magnet synchronous motor and realize speed closed-loop control. 9.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-8 when the computer program is executed by the processor. The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 7.

Images