CN105573304B - A kind of permagnetic synchronous motor hall position sensor method for diagnosing faults - Google Patents
A kind of permagnetic synchronous motor hall position sensor method for diagnosing faults Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0224—Process history based detection method, e.g. whereby history implies the availability of large amounts of data
- G05B23/0227—Qualitative history assessment, whereby the type of data acted upon, e.g. waveforms, images or patterns, is not relevant, e.g. rule based assessment; if-then decisions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults, belong to the technical field of hall position sensor fault diagnosis.The present invention by being detected in real time in motor rotation process to the output state of Hall sensor, the output integrated status information of Hall sensor is preserved in the form of binary system and decimal system array respectively, three equal failures of Hall element are excluded successively according to binary system array and decimal system information, two Hall element failures, the situation of one Hall element failure, and by Hall sensor output integrated Information locating failure Hall element after fault type is judged, the final fault message that feeds back is to controller, the program need not be modified to hardware, cost is cheap, guarantee is provided for protection system to the quick diagnosis of fault type, to being accurately positioned for failure Hall element strong support is provided for the maintenance and replacing of failure Hall element.
Description
Technical field
The invention discloses a kind of hall position sensor method for diagnosing faults, and in particular to a kind of permagnetic synchronous motor is suddenly
That position sensor method for diagnosing faults, the technical field of the hall position sensor fault diagnosis belonged to.
Background technology
Permagnetic synchronous motor due to having the characteristics that high power, high efficiency and low speed high torque, industry, traffic and
Field of household appliances has obtained more and more extensive application.In permagnetic synchronous motor control strategy, vector controlled is the most frequently used control
One of strategy processed, the strategy is in control process in order to prevent the step-out of rotor from needing to detect rotor-position.It is right at present
The method that permanent-magnet synchronous motor rotor position is detected can substantially be divided into two classes：Position sensor method and position sensorless
Device method.Position sensor method is to put to be detected using the contraposition of the high-precision sensors such as rotary transformer and photoelectric encoder,
The rotor-position precision that such method obtains is higher, but the use of sensor often increases the volume and cost of system.
And although position-sensor-free will not increase the volume and cost of system, the method for position estimation is typically complex,
The calculating pressure of system will certainly be increased, and no sensor method can typically have poor starter low-speed performance.And
Such as electric automobile in some specific application backgrounds, its often traveling under high temperature, humidity and the stronger operating mode of vibration, this
It can limit the use of above-mentioned high-precision sensor, while starting that again can be frequent when automobile travels in city stops, this then can
Hinder the use range without sensor.Therefore, hall position sensor has obtained more and more in some special environment
Using.
Hall position sensor is a kind of cheap, long lifespan, the wide low precision position sensors of operating temperature range.
The sensor is made up of 3 switching Hall components, uniform on the circumference that electrical angle is 120 °, with motor
Different low and high levels can be exported by rotating each Hall element, and whole 360 ° of electric cycles are divided into 6 60 ° of sector.Each
At the beginning of sector, rotor-position can accurately be detected, but then need to estimate by certain between sectors
Calculation method calculates rotor-position.When carrying out position estimation using the sensor, condition is that 3 Hall elements are normal
, but in motor operation course, due to the change of the working environments such as temperature, humidity, Hall element can be caused to break down, therefore
Hall element output state information is always 0 or 1 after barrier.After Hall breaks down, if entered according further to original method
Row position estimation, controller can obtain the position signalling of mistake, can send the voltage signal of mistake afterwards, gently then cause electric current mistake
Greatly, controller is protected, heavy then cause controller out of control, and motor is burnt out.
Has the method that some Chinese patents propose Hall sensor fault diagnosis at present.Application No.
Whether occur when the method for diagnosing faults that 201310312121.5 patent of invention proposes is by judging that motor rotates it is all just
Normal state judges, but this method specific method to Hall element positioning of being out of order, and this method can not be in motor
Fault detect is carried out in rotation process in real time；The method that the patent of invention of Application No. 201310395718.0 provides is by sentencing
Sequentially whether electrical angle that is correct and being passed by certain sector is former to confirm in the range of maximal and minmal value for disconnected Hall
Whether barrier occurs, but this method does not specifically give the choosing method of maximin, and when parameter selection is improper, fits
It is poor with property；The patent of invention of Application No. 201510533218.8 gives a kind of detailed hall position sensor failure
The calculating process of threshold time in diagnostic method and its deterministic process, this method relative to upper two methods more comprehensively, in detail,
But this method implementation has much room for improvement and the calculating process of threshold time is relatively complicated.
The content of the invention
The technical problems to be solved by the invention are the deficiencies for above-mentioned background technology, there is provided a kind of permanent magnet synchronous electric
Machine hall position sensor method for diagnosing faults, realize hall position sensor fault type quick diagnosis and failure suddenly
Your element is accurately positioned, solve existing Hall sensor method for diagnosing faults applicability is poor, calculating process is relative complex,
The technical problem of fault detect can not be carried out in real time in motor rotation process.
The present invention adopts the following technical scheme that for achieving the above object：
A kind of permagnetic synchronous motor hall position sensor method for diagnosing faults, hall position sensor include inverse time faller gill
Hall element A, Hall element B, the Hall element C of row, Hall element A, Hall element B, Hall element C draw 360 ° of electric cycles
It is divided into 6 60 ° of sector,
Method for diagnosing faults comprises the following steps：
Ith, motor is run after initializing hall position sensor output integrated status information；
IIth, the output state information of each Hall element is detected, using Hall element A output state information as highest order, with
Hall element C output state information is lowest order, and carrying out binary coding to each Hall element output state information is remembered
The binary system array of hall position sensor output integrated status information in each sector is recorded, and stores hall position in each sector and passes
Decimal data corresponding to sensor output integrated status information；
IIIth, the situation of three equal failures of Hall element is excluded：
When in threshold time or threshold values angle saltus step occurs for hall position sensor output integrated status information, enter
Step IV continues tracing trouble type,
Otherwise, hall position sensor is shut down to controller feedback error signal, controller control permagnetic synchronous motor；
IVth, the situation of two Hall element failures is excluded：
When hall position sensor output integrated status information is more than two kinds within the whole electric cycle, into step V after
Continuous tracing trouble type,
Otherwise, it is determined that there is two Hall element failures and by hall position sensor output integrated state in adjacent two sector
The Hall element of decimal data positioning failure, hall position sensor feedback include failure Hall element number corresponding to information
With the fault type information of position to controller；
Vth, the situation of a Hall element failure is excluded：
When hall position sensor output integrated status information is free of zero vector, judges Hall element fault-free and return
Step II,
Otherwise, it is determined that there is a Hall element failure and by a hall position sensor output integrated after zero vector
Status information positions the Hall element of failure, and hall position sensor feedback includes failure Hall element number and the failure of position
Type information is to controller.
As a kind of non-further prioritization scheme of permagnetic synchronous motor hall position sensor method for diagnosing faults, step
The decimal data positioning event as corresponding to hall position sensor output integrated status information in adjacent two sector described in rapid IV
The Hall element of barrier, it is specially：
It is exhausted when the difference of decimal data corresponding to hall position sensor output integrated status information in adjacent two sector
When being 4 to value, Hall element A fault-frees, Hall element B and the equal failures of Hall element C are judged；
It is exhausted when the difference of decimal data corresponding to hall position sensor output integrated status information in adjacent two sector
When being 2 to value, Hall element B fault-frees, Hall element A and the equal failures of Hall element C are judged；
It is exhausted when the difference of decimal data corresponding to hall position sensor output integrated status information in adjacent two sector
When being 1 to value, Hall element C fault-frees, Hall element A and the equal failures of Hall element B are judged.
Further, in the step of a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults V, by
The Hall element of hall position sensor output integrated status information positioning failure after zero vector state, specially exists
In the case of turning over sector counterclockwise：
When a hall position sensor output integrated status information after zero vector state is 010 or 101, judge
Hall element A is failure Hall element；
When a hall position sensor output integrated status information after zero vector state is 001 or 110, judge
Hall element B is failure Hall element；
When a hall position sensor output integrated status information after zero vector state is 100 or 011, judge
Hall element C is failure Hall element.
Further, in the step of a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults V, by
The Hall element of hall position sensor output integrated status information positioning failure after zero vector state, specially exists
In the case of turning over sector clockwise：
When a hall position sensor output integrated status information after zero vector state is 001 or 110, judge
Hall element A is failure Hall element；
When a hall position sensor output integrated status information after zero vector state is 100 or 011, judge
Hall element B is failure Hall element；
When a hall position sensor output integrated status information after zero vector state is 010 or 101, judge
Hall element C is failure Hall element.
Further, in the step of a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults III,
Threshold time calculates when permagnetic synchronous motor is not actuated according to minimum speed, and threshold time starts to rotate in permagnetic synchronous motor
Calculated afterwards according to the average speed for turning over a sector；Threshold values angle is 60 ° and an angle surplus sum.
As a kind of further prioritization scheme of permagnetic synchronous motor hall position sensor method for diagnosing faults, step
Described in rapid I initialize hall position sensor output integrated status information method be：Choose six normal works of Hall element
Make the initial value that the output state information beyond situation is hall position sensor output integrated status information, six Halls
Output state information value beyond element normal operation is different.
The present invention uses above-mentioned technical proposal, has the advantages that：Simply realized using a kind of Software-only method
The real-time detection of hall position sensor failure and it is accurately positioned, that whole scheme passes through is right in motor rotation process
The output state of hall position sensor is detected in real time, preserves Hall position in the form of binary system and decimal system array respectively
Sensor output integrated status information is put, the event of three Hall elements is excluded successively according to binary system array and decimal system information
Barrier, two Hall element failures, the situation of Hall element failure, and by hall position sensor after fault type is judged
Output integrated Information locating failure Hall element, final fault message to controller, the program of feeding back need not be carried out to hardware
Change, cost is cheap, and guarantee is provided for protection system to the quick diagnosis of fault type, to the accurate fixed of failure Hall element
Position provides strong support for the maintenance and replacing of failure Hall element.
The additional aspect of the present invention and advantage will be set forth in part in the description, and these will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Fig. 1 is permagnetic synchronous motor hall position sensor method for diagnosing faults block diagram；
Hall position interval graph when Fig. 2 (a) is Hall element A, Hall element B, Hall element C are normal；
Each hall element output signal and correlation when Fig. 2 (b) is Hall element A, Hall element B, Hall element C are normal
Storage of array value schematic diagram；
Fig. 3 (a) is Hall element A, Hall element B, the equal failures of Hall element C and Hall element A outputs are 1, Hall member
Part B outputs are 1, hall position interval graph when Hall element C outputs are 0；
Fig. 3 (b) is Hall element A, Hall element B, the equal failures of Hall element C and Hall element A outputs are 1, Hall member
Part B outputs are 1, each hall element output signal and related array storage value schematic diagram when Hall element C outputs are 0；
When it is 1 that Fig. 4 (a), which is Hall element A with Hall element C failures and Hall element A outputs, Hall element C outputs are 0
Hall position interval graph；
When it is 1 that Fig. 4 (b), which is Hall element A with Hall element C failures and Hall element A outputs, Hall element C outputs are 0
Each hall element output signal and related array storage value schematic diagram；
Hall position interval graph when Fig. 5 (a) is Hall element A failures and output is 1；
Fig. 5 (b) is that each hall element output signal and related array storage value are shown when Hall element A failures and output are 1
It is intended to.
Embodiment
Embodiments of the present invention are described below in detail, the embodiment below with reference to accompanying drawing description is exemplary
, it is only used for explaining the present invention, and be not construed as limiting the claims.
The present invention proposes a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults as shown in Figure 1, suddenly
Your position sensor includes Hall element A, Hall element B, the Hall element C of arranged counterclockwise, Hall element A, Hall element
B, 360 ° of electric cycles are divided into 6 60 ° of sector by Hall element C.Diagnostic method specifically includes following four big steps.
The first step：Variable-definition and system initialization.In motor rotation process, hall position sensor can export 6 kinds
Comprehensive state, it can be expressed as in the form of (ABC) (100), (110), (010), (011), (001), (101), will whole electricity
Cycle is divided into 6 sectors, as shown in Fig. 2 (a), so being used to store motor operation firstly the need of an array Hall (j) is defined
During in each sector hall position sensor output comprehensive state, the array length is 6 (identical with sector sum), simultaneously
In order to prevent the starting stage from wrong report failure occur, the initial value of all elements is set as beyond above-mentioned 6 kinds of situations in array
Value, and differ.Simultaneously for the ease of fault location afterwards, using Hall element C output states information as lowest order, with suddenly
Your element A output states information is highest order, each binary data in above-mentioned array is converted into the decimal system, while define one
Individual array Hall_dl (j) stores above-mentioned decimal data, and the setting of its initial value and array Hall (j) be former using identical
Then.The state of each Hall element and Hall (j), Hall_dl (j) value such as Fig. 2 (b) institutes when hall position sensor is normal
Show.
Second step：Hall position sensor signal detection.After controller starts motor work, system uses side
The output state information of Hall element in hall position sensor is acquired along the mode of capture, by its corresponding binary system
Information is stored in array Hall (j), while decimal data corresponding to each binary data is stored in into corresponding Hall_
In dl (j) arrays.
3rd step：After the signal of hall position sensor is collected, to the type of failure by the way of progressively judging
Judged and failure Hall element is positioned.Can be according to the Hall to break down after hall position sensor failure
Element number and the difference of position are divided into polytype, and the present invention is by by the difference of failure Hall element number, by three ranks
Section is judged：
1st, judge whether that three Hall elements break down.When 3 Hall elements break down, hall position senses
Device only has a kind of state in motor rotation process, shown in hall position interval graph such as Fig. 3 (a) now, what Fig. 3 (b) was provided
It is corresponding each hall element output signal and array Hall (j), Hall_dl (j) storage value, now Hall element A is defeated
Go out for 1, Hall element B outputs are 1, and Hall element C outputs are 0.Here a time variable t is separately definedjAnd each sector
The angle, θ passed byj, after time or angle reach threshold values, if hall position sensor state has not occurred change, then can
Broken down with regarding as 3 Halls.Threshold time can be divided into two kinds, first, when motor does not rotate also, can pass through
A minimum speed is provided to obtain the time, first, after motor rotates, is obtained by turning over the average speed of a upper sector
Time.The angle of each sector is then that the integration of speed obtains, if the angle is after reaching 60 ° plus an angle surplus
(being threshold values angle), hall position sensor output integrated status information does not still change, can also assert 3 Halls
Element breaks down.The threshold values calculating process that the application is related to is relatively easy, is advantageous to improve efficiency of algorithm.
2nd, determine whether that two Hall elements break down.When two Hall elements break down, only one suddenly
You can change at the state of element, then hall position sensor can only export two comprehensive states, Hall element A, Hall
Shown in Hall interval graph such as Fig. 4 (a) after element C failures, Fig. 4 (b) is corresponding each hall element output signal and array
Hall (j), Hall_dl (j) storage value, now Hall element A outputs are 1, and Hall element C outputs are 0, can be according to this
Feature determines whether that two Hall elements break down.It is whether full according to hall position sensor output integrated status information
Sufficient Hall (j)=Hall (j+2) judges, once meet this condition, it is possible to determine that it is two Hall element failures.And due to
Storage is decimal data corresponding to Hall (j) in array Hall_dl (j), can pass through Hall_dl (j+1)-Hall_dl
(j) absolute value positions failure Hall element, when its absolute value is 4, it may be determined that Hall element A does not break down, phase
Anti- failure is Hall element B, Hall element C；When its absolute value is 2, it may be determined that Hall element B does not break down, phase
Anti- failure is Hall element A, Hall element C；When its absolute value is 1, it may be determined that Hall element C does not break down, therefore
Barrier is Hall element A, Hall element B.
3rd, determine whether that a Hall element breaks down.During one Hall element failure, hall position sensor is defeated
Can be left by going out comprehensive state information by four kinds, wherein the output state information that must to have a kind of state be three Hall elements is the same
, referred to as zero vector state, when after it is not three or two Hall failures to be judged as, it is possible to by judging whether to go out
Existing zero vector (state of i.e. three Hall elements is the same, and such a state may also occur when two Hall elements malfunction, but
This kind of situation has excluded) judge whether the error of only Hall element, if there is zero vector, then can be determined that to have
There is failure in one Hall element, and Fig. 5 (a) gives the Hall interval graph after Hall element A failures, and Fig. 5 (b) is corresponding
Each hall element output signal and array Hall (j), Hall_dl (j) storage value, now Hall element A outputs are 1.Therefore
In the case of upper two kinds of situations are invalid, when once there is zero vector in array Hall (j), it can be assumed that being 1 Hall member
Part failure.Positioning for failure, during by Fig. 2 (a) rotate counterclockwises, after Hall element A failures, if Hall element A is exported
Status information is 0, then a state after zero vector is 010, if Hall element A output states information is 1, then null vector
A state after amount is 101；Hall element B failures can similarly be obtained, and corresponding state is 001 (if Hall element afterwards
B output states information is 0, then a state after zero vector for 001), 110 (if Hall element B output state information is
1, then a state after zero vector is 110), for 100 (if Hall element C output state information after Hall element C failures
For 0, then a state after zero vector for 100), 011 (if Hall element C output states information is 1, then zero vector
011) state afterwards is.When turning clockwise, after Hall element A failures, if Hall element A output state information is
0, then a state after zero vector is 001, if Hall element A output states information is 1, then one after zero vector
State is 110；Hall element B failures can similarly be obtained, and corresponding state is 100 (if Hall element B output states afterwards
Information is 0, then a state after zero vector for 100), 011 (if Hall element B output states information is 1, then
A state after zero vector for 011), after Hall element C failures be 010 (if Hall element C output states information is 0,
A state so after zero vector for 010), 101 (if Hall element C output states information is 1, then zero vector it
101) state afterwards is.
4th step：After above-mentioned several steps are carried out, if it is decided that not break down, then repeat second and third
Step；If it is determined that there occurs the failure of one of above-mentioned three kinds of situations, then to fault type corresponding to controller return, including failure
The number of Hall element and position, controller need to take corresponding countermeasure for different fault types.
In summary, the present invention simply realizes the real-time of hall position sensor failure using a kind of Software-only method
Quick detection and it is accurately positioned, whole scheme in motor rotation process to the output state of hall position sensor by entering
Row detection in real time, preserves hall position sensor output integrated status information in the form of binary system and decimal system array respectively,
According to binary system array and decimal system information exclude successively the equal failure of three Hall elements, two Hall element failures, one suddenly
The situation of your element fault, and by hall position sensor output integrated Information locating failure Hall member after fault type is judged
Part, final fault message to controller, the program of feeding back need not be modified to hardware, and cost is cheap, to fault type
Quick diagnosis provides guarantee for protection system, the maintenance and more being accurately positioned as failure Hall element to failure Hall element
Offer strong support is provided.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
Realized by the mode of software plus required general hardware platform.Based on such understanding, technical scheme essence
On the part that is contributed in other words to prior art can be embodied in the form of software product, the computer software product
It can be stored in storage medium, such as ROM/RAM, magnetic disc, CD, including some instructions are causing a computer equipment
(can be personal computer, server, or network equipment etc.) performs some parts of embodiments of the invention or embodiment
Described method.
Claims (6)
1. a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults, hall position sensor includes arranged counterclockwise
Hall element A, Hall element B, Hall element C, Hall element A, Hall element B, Hall element C divide 360 ° of electric cycles
For 6 60 ° of sector,
Characterized in that, method for diagnosing faults comprises the following steps：
Ith, motor is run after initializing hall position sensor output integrated status information；
IIth, the output state information of each Hall element is detected, using Hall element A output state information as highest order, with Hall
Element C output state information is lowest order, and binary coding is carried out to each Hall element output state information and obtains record respectively
The binary system array of hall position sensor output integrated status information in sector, and store hall position sensor in each sector
Decimal data corresponding to output integrated status information；
IIIth, the situation of three equal failures of Hall element is excluded：
When in threshold time or threshold values angle saltus step occurs for hall position sensor output integrated status information, into step
IV continues tracing trouble type,
Otherwise, hall position sensor is shut down to controller feedback error signal, controller control permagnetic synchronous motor；
IVth, the situation of two Hall element failures is excluded：
When hall position sensor output integrated status information is more than two kinds within the whole electric cycle, continue to examine into step V
Disconnected fault type,
Otherwise, it is determined that there is two Hall element failures and by hall position sensor output integrated status information in adjacent two sector
The Hall element of corresponding decimal data positioning failure, hall position sensor feedback include failure Hall element number and position
The fault type information put is to controller；
Vth, the situation of a Hall element failure is excluded：
When hall position sensor output integrated status information is free of zero vector, Hall element fault-free and return to step are judged
II,
Otherwise, it is determined that there is a Hall element failure and by a hall position sensor output integrated state after zero vector
The Hall element of Information locating failure, hall position sensor feed back the fault type for including failure Hall element number and position
Information is to controller.
A kind of 2. permagnetic synchronous motor hall position sensor method for diagnosing faults according to claim 1, it is characterised in that
Decimal data positions as corresponding to hall position sensor output integrated status information in adjacent two sector described in step IV
The Hall element of failure, it is specially：
When the absolute value of the difference of decimal data corresponding to hall position sensor output integrated status information in adjacent two sector
For 4 when, judge Hall element A fault-frees, Hall element B and the equal failures of Hall element C；
When the absolute value of the difference of decimal data corresponding to hall position sensor output integrated status information in adjacent two sector
For 2 when, judge Hall element B fault-frees, Hall element A and the equal failures of Hall element C；
When the absolute value of the difference of decimal data corresponding to hall position sensor output integrated status information in adjacent two sector
For 1 when, judge Hall element C fault-frees, Hall element A and the equal failures of Hall element B.
A kind of 3. permagnetic synchronous motor hall position sensor method for diagnosing faults according to claim 2, it is characterised in that
Failure is positioned suddenly by a hall position sensor output integrated status information after zero vector state described in step V
That element, specially in the case where turning over sector counterclockwise：
When a hall position sensor output integrated status information after zero vector state is 010 or 101, Hall is judged
Element A is failure Hall element
When a hall position sensor output integrated status information after zero vector state is 001 or 110, Hall is judged
Element B is failure Hall element；
When a hall position sensor output integrated status information after zero vector state is 100 or 011, Hall is judged
Element C is failure Hall element.
A kind of 4. permagnetic synchronous motor hall position sensor method for diagnosing faults according to claim 2, it is characterised in that
Failure is positioned suddenly by a hall position sensor output integrated status information after zero vector state described in step V
That element, specially in the case where turning over sector clockwise：
When a hall position sensor output integrated status information after zero vector state is 001 or 110, Hall is judged
Element A is failure Hall element；
When a hall position sensor output integrated status information after zero vector state is 100 or 011, Hall is judged
Element B is failure Hall element；
When a hall position sensor output integrated status information after zero vector state is 010 or 101, Hall is judged
Element C is failure Hall element.
A kind of 5. permagnetic synchronous motor hall position sensor fault diagnosis side according to any one in Claims 1-4
Method, it is characterised in that threshold time described in step III is when permagnetic synchronous motor is not actuated according to the minimum speed of a setting
Degree calculates, and threshold time calculates after permagnetic synchronous motor starts to rotate according to the average speed for turning over a sector；The valve
It is 60 ° and an angle surplus sum to be worth angle.
A kind of 6. permagnetic synchronous motor hall position sensor method for diagnosing faults according to claim 1, it is characterised in that
Described in step I initialize hall position sensor output integrated status information method be：It is normal to choose six Hall elements
Output state information beyond working condition is the initial value of hall position sensor output integrated status information, and described six suddenly
Output state information value beyond your element normal operation is different.
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| CN106787992B (en) * | 2017-03-24 | 2019-08-02 | 哈尔滨理工大学 | Permanent magnetic brushless Hall sensor fault tolerant control method |
| CN110391770A (en) * | 2018-04-17 | 2019-10-29 | 德昌电机(深圳)有限公司 | Electric machine, motor-drive circuit and driving method |
| CN108775857B (en) * | 2018-07-09 | 2019-11-22 | 西北工业大学 | Permanent magnetic brushless hall position sensor method for diagnosing faults |
| CN113359032B (en) * | 2021-07-02 | 2023-07-25 | 杭州海康威视数字技术股份有限公司 | Permanent magnet synchronous motor testing method, device and equipment |
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| CN104165649A (en) * | 2014-08-28 | 2014-11-26 | 西北工业大学 | Power-on self-detection method for brushless direct-current motor hall sensor |
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