Driving and Braking Control of PM Synchronous Motor Based on Low-resolution Hall Sensor for Battery Electric Vehicle

Resolvers are normally employed for rotor positioning in motors for electric vehicles, but resolvers are expensive and vulnerable to vibrations. Hall sensors have the advantages of low cost and high reliability, but the positioning accuracy is low. Motors with Hall sensors are typically controlled by six-step commutation algorithm, which brings high torque ripple. This paper studies the high-performance driving and braking control of the in-wheel permanent magnetic synchronous motor （PMSM） based on low-resolution Hall sensors. Field oriented control （FOC） based on Hall-effect sensors is developed to reduce the torque ripple. The positioning accuracy of the Hall sensors is improved by interpolation between two consecutive Hall signals using the estimated motor speed. The position error from the misalignment of the Hall sensors is compensated by the precise calibration of Hall transition timing. The braking control algorithms based on six-step commutation and FOC are studied. Two variants of the six-step commutation braking control, namely, half-bridge commutation and full-bridge commutation, are discussed and compared, which shows that the full-bridge commutation could better explore the potential of the back electro-motive forces （EMF）, thus can deliver higher efficiency and smaller current ripple. The FOC braking is analyzed with the phasor diagrams. At a given motor speed, the motor turns from the regenerative braking mode into the plug braking mode if the braking torque exceeds a certain limit, which is proportional to the motor speed. Tests in the dynamometer show that a smooth control could be realized by FOC driving control and the highest efficiency and the smallest current ripple could be achieved by FOC braking control, compared to six-step commutation braking control. Therefore, FOC braking is selected as the braking control algorithm for electric vehicles. The proposed research ensures a good motor control performance while maintaining low cost and high reliability.

Rule-based Fault Diagnosis of Hall Sensors and Fault-tolerant Control of PMSM

Hall sensor is widely used for estimating rotor phase of permanent magnet synchronous motor(PMSM). And rotor position is an essential parameter of PMSM control algorithm, hence it is very dangerous if Hall senor faults occur. But there is scarcely any research focusing on fault diagnosis and fault-tolerant control of Hall sensor used in PMSM. From this standpoint, the Hall sensor faults which may occur during the PMSM operating are theoretically analyzed. According to the analysis results, the fault diagnosis algorithm of Hall sensor, which is based on three rules, is proposed to classify the fault phenomena accurately. The rotor phase estimation algorithms, based on one or two Hall sensor(s), are initialized to engender the fault-tolerant control algorithm. The fault diagnosis algorithm can detect 60 Hall fault phenomena in total as well as all detections can be fulfilled in 1/138 rotor rotation period. The fault-tolerant control algorithm can achieve a smooth torque production which means the same control effect as normal control mode (with three Hall sensors). Finally, the PMSM bench test verifies the accuracy and rapidity of fault diagnosis and fault-tolerant control strategies. The fault diagnosis algorithm can detect all Hall sensor faults promptly and fault-tolerant control algorithm allows the PMSM to face failure conditions of one or two Hall sensor(s). In addition, the transitions between health-control and fault-tolerant control conditions are smooth without any additional noise and harshness. Proposed algorithms can deal with the Hall sensor faults of PMSM in real applications, and can be provided to realize the fault diagnosis and fault-tolerant control of PMSM.

基于Hall和GMR的多传感器融合方法及实现

目前霍尔传感器(Hall)和巨磁阻(GMR)传感器均广泛地应用于电力系统电流测量。为同时发挥二者的优势、降低各自的局限性,在分析Hall和GMR的温度特性、噪声特性和被测电流范围的基础上,提出了一种基于Hall和GMR的多传感器融合方案。在定义GMR和Hall的灵敏度差值ΔS基础上,将被测电流i和灵敏度差值ΔS构成的融合域划分为四个域,在域Ⅱ采用多传感加权观测融合Kalman滤波算法,将Hall和GMR的观测量和观测噪声融合后与状态方程联立进行Kalman滤波;在域Ⅰ采用数据加权融合最优权值分配的方法,给Hall的测量数据赋予较大权值,GMR的测量数据赋予较小的权值;在域Ⅲ,权值分配情况相反,各域之间可实现数据融合的平滑过渡。基于多传感器融合方法,设计了一种组合式闭环电流传感器,包括磁芯、电路部分设计及仿真。仿真和样机实验结果表明,在域Ⅱ时多传感器融合值与真实值的均方根误差低至0.004;在域Ⅰ、Ⅲ时电流测量的相对误差E_(i)均在0.255%以下。与单一传感器相比,多传感器融合的方法使组合式传感器测量电流范围增大,适用于温度变化范围较大的场景,电流测量精度及可信度更高。

Flash flood simulation and valve behavior of Mytilus galloprovincialis measured with Hall sensors

Mussels close their shell as a protective strategy and the quantification of this behavioral marker may represent an alarm signal when they are exposed to environmental stressors.In the present study,we investigated the ability of the Mediterranean mussel Mytilus galloprovincialis to recover and then the resilience or inertia of valve activity after a pulsing exposition to diverse levels of salinity(5,10,20,and 35 PSU as reference value).The trial simulated an event of drastic and sudden reduction of seawater salinity thus mimicking an event of flash flood from intense rain.Valve gaping and movements were measured in continuous cycle for 10 days using a customized magnetoelectric device which uses Hall sensors.Results showed that under normal conditions of salinity(35 PSU),the general pattern of valve movements was a continuously open state with sporadic spikes indicating a closing motion.At salinity of 5,PSU mussels reacted by closing their valves,leading to a 77%mortality on the 4th day.At salinity of 10,PSU animals were observed with closed valves for the entire duration of the exposure and no mortality occurred,they showed a significant reduction in the valve activity once the reference value of salinity was reestablished.In contrast,salinity of 20 PSU did not trigger a significant behavioral response.Interestingly,there no define rhythms of valve movements were recorded during salinity challenges.

An integrated front-end vertical hall magnetic sensor fabricated in 0.18μm low-voltage CMOS technology

An integrated front-end vertical CMOS Hall magnetic sensor is proposed for the in-plane magnetic field measure-ment.To improve the magnetic sensitivity and to obtain low offset,a fully symmetric vertical Hall device(FSVHD)has been op-timized with a minimum size design.A new four-phase spinning current modulation associated with a correlated double sampling(CDS)demodulation technique has been further applied to compensate for the offset and also to provide a linear Hall output voltage.The vertical Hall sensor chip has been manufactured in a 0.18μm low-voltage CMOS technology and it occu-pies an area of 1.54 mm2.The experimental results show in the magnetic field range from-200 to 200 mT,the entire vertical Hall sensor performs with the linearity of 99.9%and the system magnetic sensitivity of 1.22 V/T and the residual offset of 60μT.Meanwhile,it consumes 4.5 mW at a 3.3 V supply voltage.The proposed vertical Hall sensor is very suitable for the low-cost sys-tem-on-chip(SOC)implementation of 2D or 3D magnetic microsystems.

Modelling and fabrication of wide temperature range Al_(0.24)Ga_(0.76)As/GaAs Hall magnetic sensors

Silicon Hall-effect sensors have been widely used in industry and research fields due to their straightforward fabrication process and CMOS compatibility.However,as their material property limitations,technicians usually implement complex CMOS circuits to improve the sensors’performance including temperature drift and offset compensation for fitting tough situation,but it is no doubt that it increases the design complexity and the sensor area.Gallium arsenide(GaAs)is a superior material of Hall-effect device because of its large mobility and stable temperature characteristics.Concerning there is no specified modelling of GaAs Hall-effect device,this paper investigated its modelling by using finite element method(FEM)software Silvaco TCAD®to help and guide GaAs Hall-effect device fabrication.The modeled sensor has been fabricated and its experimental results are in agreement with the simulation results.Comparing to our previous silicon Hall-effect sensor,the GaAs Hall-effect sensor demonstrates potential and reliable benchmark for the future Hall magnetic sensor developments.

Research of the Phase Sensitive Detection Property of Magnetic Sensor Based on Hall Effect

Aim to detect the characteristic weak magnetic field signal against the strong noises background. Methods In combination with a low-pass-filter, the correlation output of magne-* tic sensors between the magnetic field and reference current was utilized to provide a DC output voltage proportional to the applied magnetic induction, computer simulation was* done to investigate the correlation output of the Hall-effect sensors. Results Some analysis results concerning the noise property, harmonic supppression and the sensitivity were given. Conclsion The minimum detection signal of the equipment evolved from the mentioned cor-* relation theory can be 10-6 T. In addition to the DC output, such sensors can also measure the phase of the detected magnetic induction and has good harmonic suppression as well as* noise elimination.

基于Sage-Husa预测算法的直流无刷电机Hall传感器位置信息校正

直流无刷电机控制需要转子位置信息,位置信息识别偏差会降低电机效率。本文以带有开关型Hall传感器的直流无刷电机为研究对象,基于最小偏差原则,估算了Hall传感器间的相对安装偏移,明确了基于LBEMF的电机理想换相位置识别方法,消除了Hall传感器安装位置偏差,采用预标定方法,推算了信号调理电路引入的延迟,并提出了一种转子位置信息校正策略;设计了一种基于Sage-Husa法的自适应位置信息预测算法,滤除预标定未能消除的位置信息偏差。在氢气循环泵实验平台的结果表明,采用预标定方法后,转速波动MAPE降低了72.4%,平均相电流降低了62.8%,系统效率明显提高;相对于传统KF预测算法,本文预测算法的匀速与调速阶段转速波动、转速曲线超调及全过程换相时间波动分别降低了16.0%、19.4%、42.1%及35.0%,具有更高的抗扰动能力,对换相时刻的预测更准确稳定。

基于磁性传感器的低失调温度补偿接口电路设计

面向磁性传感器在物联网(IoT)技术中的广泛应用,该文基于180 nm CMOS工艺设计了一种具有低失调电压,低温度漂移特性的霍尔传感器接口电路。针对霍尔传感器灵敏度的温度漂移特性,该文设计了一种感温电路并与查表法相结合,调节可编程增益放大器(PGA)的增益有效地降低了霍尔传感器的温度系数(TC)。在此基础上,通过在信号主通路中使用相关双采样(CDS)技术,极大程度上消除了霍尔传感器的失调电压。仿真结果表明,在–40°C~125°C温度范围内,霍尔传感器的TC从966.4 ppm/°C减小到了58.1 ppm/°C。信号主通路的流片结果表明,霍尔传感器的失调电压从25 mV左右减小到了4 mV左右,霍尔传感器的非线性误差为0.50%。芯片的总面积为0.69 mm^(2)。

基于磁平衡的钢丝绳探伤数字传感器研究

针对钢丝绳在长期运行过程中会出现断丝、截面磨损、锈蚀等损伤而形成安全隐患的问题,指出应进行钢丝绳健康状态定期安全检测和评估。针对常用的强磁检测法的不完善之处,提出基于空间磁场平衡机制检测的新型钢丝绳损伤判别方法。首先研究采用PRO/E进行三维实体建模,进行了磁路设计;其次采用有限元分析,比较X轴、Y轴磁化方向的优劣,依据磁力线密度、中间直线磁场变化强度得出Y轴磁化方向优于X轴磁化方向;最后通过运用三维磁场数值分析软件,设计计算出合适的传感器聚磁环结构和感知单元。实验研究结果表明,基于空间磁场平衡机制的新型钢丝绳探伤传感器的检测效果较传统强磁探伤传感器的检测效果有明显改善。

开关磁阻电机霍尔位置信号的故障诊断方法

开关磁阻电机(SRM)驱动系统的可靠运行,需要位置传感器提供可靠的位置信号。因此针对霍尔位置传感器时常故障影响电机正常工作的问题,研究一种有效的位置信号诊断方法对于提高系统工作可靠性是有重要意义的。本文提出了一种时间阈值与状态预测相结合的故障诊断方法。首先分析了位置传感器故障的类型和发生位置;其次对所提出的基于时间阈值结合状态预测的方法作了理论分析,该方法将3个位置信号组合的实际状态值与预测状态值作实时比对,结合状态值转换时间进行阈值约束从而检测出各种故障并达到快速准确的效果;最后,为了验证所提方法的有效性,以三相12/8结构电机作为研究对象,对该方法进行了实验验证。实验结果证明了该方法在故障检测中的可行性和有效性。另外,该方法无需复杂的计算和额外硬件即可实现,可推广到无刷直流电机(BLDC)等驱动系统使用。

霍尔效应实验自主分层次教学探究

为了解决2023版《理工科类大学物理实验课程教学基本要求》中分层次教学要求与现有仪器设备不完全匹配问题,我们结合本校实际探索了一条低投入高效能的自主化分层次实验教学途径。本文以霍尔效应实验自主化分层次教学实践为例,探究了如何在现有B层次的实验仪器上,细挖深究结合动手改造,开展C层次研究性实验和D层次设计性实验。在霍尔效应副效应研究性实验中,我们评估了所有效应的阶数,并定量测量了副效应引起的附加电势差;在角度传感器设计性实验中,我们完成了基于霍尔效应的角度传感器设计,并发展了一套两参量最小二乘法误差处理方法。自主化分层次实验教学有助于因地制宜地开展实验教学改革,提升实验教学质量。

基于形状记忆合金的软体指套设计与精确控制

提出了一种基于形状记忆合金(SMA)弹簧驱动的软体指套。设计了基于霍尔传感器的传感系统,以精确感知指套弯曲状态。通过分析人手的结构和运动特征,建立了指套的运动学模型。最后,搭建实验平台,开展传感器标定实验分析,完成锯齿状速度曲线跟踪。实验结果表明:软体指套通过高精度的位置信息和经典PID控制器,能够实现精确运动控制。

一种低成本小型化弹载伺服控制器设计及验证

面对弹载产品对低成本、小型化的客观需求,提出一种利用开关型霍尔传感器进行机电系统位置半闭环控制的伺服控制器设计方案。创新性地利用直流无刷电机本体上的霍尔传感器结合软件控制策略,替代了伺服机构上外置的绝对位置传感器,不仅降低了产品体积和成本,还简化了硬件电路设计,提高了系统可靠性。

GaN基异质结霍尔传感器封装测试与输出特性

霍尔传感器作为磁传感领域最常用的传感器类型,在工业生产、汽车电子、航空航天以及生物医学等方面均有广泛应用.本文利用宽禁带氮化镓(GaN)半导体耐高温、高迁移率等优点,采用标准半导体芯片制造工艺研制出AlGaN/GaN异质结结构霍尔传感器.高温应用环境下的传感器要求封装材料耐高温、产生应力低以及对传感器关键指标影响小.本文通过软件仿真树脂橡胶类3种不同封装材料封装后对传感器及键合线的性能影响规律,并通过实验验证不同材料封装前后传感器灵敏度、失调电压、温漂系数等物理参量的变化,遴选出综合性能最优的、可在550 K高温环境下使用的封装材料.最终得到封装后的霍尔传感器失调电压在1.0 mA激励电流时小于115μV,信号线性度在0~3.0 mA激励电流和0~1.0 T磁场测量范围内优于0.3%,而温漂系数在300~550 K温度范围内仅有-120.9 ppm/K,优于目前文献报道结果,因此有望应用于极端环境磁场检测中.

基于霍尔脉宽的汽车天窗防夹标定系统设计

为解决传统防夹系统对实际行驶环境适应性低、算法参数难以确定的问题,设计了一种基于霍尔脉宽的汽车天窗防夹标定系统。使用霍尔传感器监测天窗电机的运行状态,根据霍尔脉宽与夹紧力的近似正比关系触发防夹功能,同时利用卡尔曼滤波器和脉宽积分算法减少了噪声引发的误防夹操作。通过基于CAN总线的标定协议,建立了一种车载领域通用的标定系统,实验标定了不同供电电压和路面状况下防夹算法的实际参数值,取得了较好的防夹效果,满足了天窗防夹系统对环境适应能力的要求。

面向多播行协同作业的精量播种监测系统研究

针对传统的气吸式播种机在作业过程中常常因导种管堵塞、种箱缺种以及机械故障造成的漏播、重播等现象,设计并开发一套支持12条播行协同作业的精量播种监测系统。该系统包括红外光电监测单元、车速监测单元、控制器单元、中控仪表单元以及故障报警单元的设计。试验结果表明,所设计的监测系统可以实时监控12条播种行的协同作业情况,当出现漏播、重播现象时能够及时、准确地识别播种行行号并进行故障报警,报警成功率达到100%,且平均响应时间在0.5 s以内。且在4~12 km/h的正常作业速度下,系统对不同体积大小的农作物种粒播种数量监测精度平均值超过98.5%。能够实现对多路播行同时作业的实时监测需求,对提高播种质量、降低生产成本具有重要意义。

单霍尔故障下无轴承永磁薄片电机径向位移容错检测

由于人工无轴承心脏泵要求微型化,所以心脏泵系统不能采用大体积的电涡流传感器来采集径向位移信息。基于霍尔测径向位移的无轴承永磁薄片电机采用霍尔同时辨识转角和径向位移,大幅降低系统体积。霍尔输出信号直接影响无轴承电机悬浮性能,当单个霍尔传感器故障时,由于缺失一相磁链导致电机失浮。为了提高基于霍尔测径向位移的无轴承永磁薄片电机容错能力,该文针对单霍尔传感器故障时角度和径向位移信息会重新耦合,难以高精度分离的问题,提出基于谐波补偿的霍尔磁链重构算法。首先,采用磁链重构思想,利用剩余非故障霍尔重构解算径向位移的一相磁链;然后,对上述重构磁链中不偏心3次谐波进行补偿,并构建霍尔矫正表求解径向位移;最后,搭建实验平台,通过仿真和实验验证了所提算法的准确性。

高强度螺栓施拧工具控制系统设计

为了使高强度螺栓施拧工具能够满足施工现场对扭矩控制精度以及对工具多样化的需求,设计了基于STM32的高强度螺栓施拧工具控制系统。控制系统采用一体化设计。硬件具有应变片接口和霍尔传感器接口。软件对应开发扭矩控制和转角控制双重可配置模式,以控制螺栓精准施拧。控制器配备数据上传功能,方便数据化管理、追溯工具和螺栓信息。此外,开发标定功能、故障检测功能、人机交互等功能,以进一步满足施工需求、降低施工难度。该控制系统体积紧凑、控制精度高、响应速度快、功能丰富。在标准扭矩仪测试过程中,施拧工具能够保证±4%以内的控制精度。该设计为市场同类铁路桥梁建设工具的设计提供了参考。

Hall故障及位置误差对无刷直流电机影响的仿真

Hall位置传感器是无刷直流电机的三大组成部分之一,其作用是检测电机转子的位置,为电子开关提供正确的换相信号,它的性能直接影响着电机的运行。该文研究了Hall传感器的故障以及位置误差对无刷电机的影响,并用Matlab建立了无刷电机的仿真模型,对其进行了仿真,最后给出了两种状态下电机的相电流和转矩波形。