直流無刷馬達之霍爾感測器容錯控制研究

Research on Hall Sensor Fault Tolerant Control of Brushless DC Motor

張竣傑(Chang Chun-Chieh)

指導教授 ： 余長宸

國立屏東科技大學/工學院/車輛工程系所/碩士(2021年)

https://doi.org/10.6346/NPUST202100479

摘要

本論文主要針對直流無刷馬達的霍爾感測器故障之容錯控制，針對先前提出的文獻作為探討其故障判斷與訊號補償之優、缺點，進而提出將其功能加強的辦法。目前所提出的故障判斷主要都是利用霍爾感測器本身之訊號，以狀態與狀態緣作為依據，但判斷正確速度與可靠性都明顯的不足，而訊號補償也是利用霍爾感測器本身，計算出轉速，推估出換相點，而產生的問題是在低速時，霍爾感測器之間的間隔太長，誤差會進而加大。本論文所提出的故障判斷方法，基於原始的判斷方法，因此霍爾訊號正常時，不會受到加速度影響到誤判，再加入了狀態緣間隔時間，竟而與三個霍爾訊號狀態緣時間做比較，得出正確的故障霍爾感測器，而訊號補償部分，受限到霍爾訊號的位置是固定的，且馬達轉子轉動一圈霍爾感測器狀態緣數量為固定，因此低速時，利用馬達三相電流作為補償，再加上控制電壓得出，馬達三相線對線永磁磁鏈，竟而利用此訊號得出的位置轉換成轉速訊號，回饋至訊號補償機制，驗證結果顯示健康狀態時，故障判斷不會產生誤判，且也不會因為加速度過大時，而產生整體故障判斷無法控制的情況，訊號補償部分則利用基本的狀態緣補償故障霍爾訊號，在低速時則切換至位置估測器部分，可以驗證出故障判斷的可靠性與判斷正確速度都有明顯提升，而訊號補償部分高速時利用健康霍爾補償故障霍爾，低速時，利用三相電流補償訊號，兩種方法正好優、缺點互補，可驗證出此方法的可靠性與效率的提升。
關鍵字：霍爾感測器、訊號補償、位置估測器、故障判斷。

關鍵字

霍爾感測器 ； 訊號補償 ； 位置估測器 ； 故障判斷

並列摘要

This thesis mainly focuses on the fault-tolerant control of the Hall sensor fault of the DC brushless motor, and discusses the advantages and disadvantages of fault judgment and signal compensation based on the previously proposed literature, and then proposes ways to enhance its function. The current fault judgments proposed are mainly based on the signal of the Hall sensor itself, based on the state and state edge, but the correct speed and reliability of the judgment are obviously insufficient, and the signal compensation also uses the Hall sensor itself. Calculate the speed and estimate the commutation point. The problem is that at low speed, the interval between the Hall sensors is too long, and the error will increase. The fault judgment method proposed in this paper is based on the original judgment method. Therefore, when the Hall signal is normal, it will not be affected by the acceleration to misjudge. Then the state edge interval time is added, and it is compared with the state edge time of the three Hall signals. The comparison shows that the correct faulty Hall sensor is obtained, and the signal compensation part is limited to the position of the Hall signal is fixed, and the number of state edges of the Hall sensor is fixed when the motor rotor rotates one circle, so at low speed , Using the three-phase current of the motor as compensation, plus the control voltage, the motor three-phase line-to-line permanent magnet flux link is actually used to convert the position obtained by this signal into a speed signal, which is fed back to the signal compensation mechanism to verify the result When the health status is displayed, the fault judgment will not cause misjudgment, and the overall fault judgment will not be controlled due to excessive acceleration. The signal compensation part uses the basic status edge to compensate the fault Hall signal, and at low speeds Switching to the position estimator part, it can be verified that the reliability of the fault judgment and the correct speed of the judgment have been significantly improved, and the signal compensation part uses the healthy hall to compensate the fault hall at high speed, and uses the three-phase current compensation signal at low speed. The advantages and disadvantages of the two methods complement each other, and the reliability and efficiency of this method can be verified.
Keywords: hall sensor, signal compensation, position estimator, Fault diagnosis.

並列關鍵字

hall sensor ； signal compensation ； position estimator ； Fault diagnosis

參考文獻

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