本論文提出了一種結合霍爾感測器容錯控制與抑制電流諧波的方法用於永磁同步馬達驅動。此研究使用霍爾感測器估測轉子位置，並實現霍爾感測器容錯控制及優化估測角度的方法，以提高永磁同步馬達驅動的安全性、可靠性。文中分析霍爾訊號的狀態及發生狀態變化時的轉子位置訊息以及三相霍爾訊號之間的對應關係，以任一相霍爾訊號狀態發生變化時，觀察另外一相霍爾訊號的狀態值，將其結果和該相霍爾訊號前一次變化時所觀察到的狀態值進行比較，兩者的異同將作為是否發生故障的依據，藉此提出一個有效且簡易的故障診斷方法，在此基礎上，排除故障感測器所產生的錯誤位置訊號，使用剩餘正常的霍爾訊號對轉子位置進行估測，同時霍爾感測器會因為缺少某些片段的位置資訊，使轉子估測的精確度伴隨著解析度降低而降低，進而影響對馬達控制效率，因此藉由同步頻率追蹤濾波器(SFTF)提取估測角度的基本波並消除高頻雜訊，使霍爾感測器發生故障時仍保有精確的轉子位置。控制方法則使用線性主動抗擾控制(Linear Active Disturbance Rejection Control)，由線性擴展狀態觀測器 (Linear extended state observers) 和一個比例電流控制器組成，利用狀態觀察器估測電流擾動，估測的總擾動經由電流控制迴路進行前饋補償，可以有效的降低電流諧波並提升流經設備的電流品質以及系統的穩定性。;A method combines Hall sensor fault-tolerant control and linear active disturbance rejection controller (LADRC) for the permanent magnet synchronous motor (PMSM) drivers is proposed in this article. This research uses the Hall sensor as the rotor position sensor. Hall sensor fault-tolerant control consists of sensor fault diagnosis and optimized estimation angle to improve the safety and reliability of system. The section of sensor fault diagnosis analyzes the relationship between the state of the Hall signal and the rotor position. When the state of the Hall signal changes, it samples the state value of the other Hall signal and compare with the state value sampled from the previous change. The similarities and differences between the two value will be used as the basis for failure. On this basis, the wrong position signal generated by the fault sensor is eliminated, and the remaining Hall signal is used to estimate the rotor position. The section of optimized estimation angle method is to extract the fundamental wave of the estimated angle and eliminate the high frequency noise by the Synchronous Frequency Tracking Filter (SFTF), so that the accurate rotor position is maintained even when the Hall sensors fail. In the part of Linear Active Disturbance Rejection Control, it consists of linear extended state observer (LESO) and a proportional current controller. LESO is designed to estimate the external disturbance. The estimated disturbance is used as a feedforward compensation term in the current control loop to improve the current regulation quality and the stability of the system.
