Research On Self-calibration And Fault Tolerant Control Algorithm Of Hub Motor For Solar Racing Car

In recent years,in order to solve the increasingly serious environmental and energy issues,new energy vehicles have been rapidly developed.With excellent environmental performance and inexhaustible solar energy,solar cars become the focus of the development of new energy vehicles.Based on in-wheel motor control technology,this paper researched Hall sensor self-calibration and fault-tolerant control of the solar car in-wheel motor to improve the motor matching capability and reliability.The main contents of this paper are as follows:Firstly,for the solar car motor,the hardware and software update were researched.In terms of hardware,the Freescale MC56F84789 processor was introduced to replace the old one.For software,the control algorithm was improved and ported into the new hardware.Combined with the mathematical model of the PMSM,the online estimation algorithm of the key parameters and dead-time compensation algorithm was proposed so that the accurate torque control of PMSM can be achieved.To verify the design update of the controller,the loss estimation model of the MOSFET was established.Therefore,the loss and efficiency of the controller can be estimated and the law of the controller efficiency changes with the working conditions can be obtained,which provides the guideline for the controller performance.Secondly,the Hall sensor self-calibration algorithm based on back EMF was proposed and programmed.Meanwhile,the Simulink model of the algorithm was established so that the algorithm was simulated and analyzed.What’s more,based on the experiments,the algorithm was proposed so that the efficiency of the calibration were improved.Thirdly,to solve the problem that the Hall sensors of the in-wheel motor are easy to malfunction while solar car is running,based on the analysis of the malfunction characteristic,the diagnosis algorithm of the Hall sensor phase fault based on the maximum sector electrical angle method was proposed.Combined with the fault diagnosis algorithm and the optimized estimation algorithm of the Hall sensor position,the Hall sensor fault tolerant control algorithm was proposed.At last,the test bench of the PMSM was established.The experiments of controller efficiency,self-calibration algorithm and fault tolerant control algorithm were conducted and all algorithms and programs developed above were verified.After experimental verification reached the following conclusions:(1)The Hall self-calibration algorithm proposed in this paper can improve the calibration efficiency and calibration accuracy.(2)Combining the fault diagnosis algorithm,the fault-tolerant control algorithm achieves the same control effect as the normal working under the condition of low speed and low torque.