【目的】霍尔位置传感器在恶劣环境、机械振动和电气应力等因素影响下容易发生故障，同时安装偏差也会显著影响电机的控制精度和系统稳定性。为了提高基于霍尔位置传感器的永磁同步电机(PMSM)驱动系统的可靠性和容错性能，对霍尔传感器的故障诊断方法和容错控制策略展开研究，旨在解决传统方法在故障诊断效率和容错控制精度方面的不足。【方法】针对传统基于特征序列的故障检测方法存在的效率低和误判问题，提出了一种基于伪加速度变化阈值的新型快速故障诊断方法，该方法在霍尔跳变沿时刻对伪加速度变化量与设定阈值进行比较，从而快速检测故障。此外，为减小霍尔安装偏差的影响，提出一种将传统容错插值法与快速故障诊断相结合的改进容错控制方法。并将该方法与所设计的自适应陷波角度观测器相结合，以减小霍尔安装偏差带来的2次谐波误差，提高容错性能。【结果】试验结果表明，所提快速故障诊断方法能够准确识别单相霍尔和双相霍尔传感器故障，显著缩短诊断时间，避免了传统方法的滞后性和误判问题。改进容错插值法结合自适应陷波角度观测器，在霍尔传感器故障情况下，仍能实现对转子位置的精确估算，有效提高了系统的稳定性和控制精度。特别是在不同工况下，该方法能够保持良好的控制性能。【结论】本文所提基于伪加速度变化阈值的快速故障诊断方法和改进型容错控制策略，在单相霍尔和双相霍尔故障以及不同工况下的表现均优于传统方法，为霍尔传感器故障情况下的电机稳定运行提供了可靠的技术支持。

[Objective] Hall position sensors are prone to faults under harsh environments, mechanical vibrations, and electrical stress. In addition, installation deviations can significantly affect the motor’s control accuracy and system stability. To enhance the reliability and fault tolerance of permanent magnet synchronous motor (PMSM) drive systems based on Hall position sensors, this study investigates fault diagnosis methods and fault-tolerant control strategies, aiming to address the limitations of traditional approaches in fault diagnostic efficiency and fault-tolerant control accuracy. [Methods] To overcome the low efficiency and misjudgment issues of traditional feature-sequence-based fault detection methods, a novel fast fault diagnosis method based on pseudo-acceleration variation thresholds was proposed. This method compared the change in pseudo-acceleration method with a preset threshold at the Hall transition signal to rapidly detect faults. Furthermore, an improved fault-tolerant control method that integrated traditional fault-tolerant interpolation method with the fast diagnosis method was proposed to minimize the effect of Hall installation deviation. The method was combined with the designed adaptive notch angle observer to reduce the second-harmonic errors caused by Hall sensor misalignment, thereby improving fault-tolerant performance. [Results] Experimental results showed that the proposed fast fault diagnosis method accurately identified both single-phase and dual-phase Hall sensor faults, significantly reducing diagnostic time and avoiding the delays and misjudgments of traditional detection methods. The improved fault-tolerant interpolation method, combined with the adaptive notch angle observer, accurately estimated rotor position even in the presence of Hall sensor faults, effectively enhancing system stability and control precision. The method maintained excellent control performance particularly under different operating conditions. [Conclusion] The proposed fast fault diagnosis method based on pseudo-acceleration variation thresholds, along with the improved fault-tolerant control strategy, outperforms traditional methods in the case of single-phase Hall sensor faults, dual-phase Hall sensor faults, and under different operating conditions. It provides reliable technical support for the stable operation of motors under Hall sensor faults.

国家自然基金(52077100)