霍尔传感器故障下的永磁无刷电机容错控制及其动态性能研究
Research on the Fault Tolerant Control and Its Dynamic Performance of Brushless Permanent Magnet Motor With Faults in Hall Sensor
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摘要: 该文针对霍尔位置传感器的故障,提出永磁无刷电机的容错控制方法,并研究了容错控制系统在动态过程中的性能。首先,分析霍尔传感器的故障情况,定义故障类型。分析各种故障对霍尔信号中的角度间隔和时间间隔的影响,提出针对霍尔故障的转子角度外插估计法。为减小角度预估的滞后,将外插估计法和电机的机械动态模型结合,提出能够克服霍尔故障的闭环角度观测器,以电磁转矩作为前馈信号,提高观测器的动态反应速度。为了完全消除估计角度的滞后现象,将霍尔信号变换为霍尔矢量,并对霍尔矢量进行了频谱分析和谐波消去,在此基础上提出了具有容错功能的霍尔矢量跟踪观测器。最后,通过仿真和实验验证了三种容错控制方法。实验结果表明,三种容错控制方法都能在故障情况下完成转子角度的估计,实现驱动系统的容错控制,而且霍尔矢量跟踪观测器有效地改善了容错控制系统的动态性能。Abstract: In a brushless permanent magnet motor（BLPMM） drive system, faults of Hall position sensor were investigated and several fault tolerant control methods were proposed, based on which the dynamic performance of these strategies was also studied. Firstly, the fault situation was studied and fault types were defined. Then the angle and time intervals implied in Hall signals were analyzed under fault situations and the extrapolation method was presented for position estimation. To reduce the delay in estimation, a close-loop observer was proposed based on the dynamic model of the drive system as well as the extrapolation. Alternatively, Hall signals were converted to Hall vector and the harmonics in Hall vector were analyzed and decoupled, based on which a Hall vectortracking observer is proposed. Finally, the fault tolerant control methods are verified in simulation and experiment. The results show that the proposed methods can provide proper position estimation and implement the fault tolerant control for the drive systems. Moreover, the Hall vector-tracking observer improves the dynamic performance of fault tolerant control system.
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