Method of correcting a signal delay of a hall sensor for an air compressor motor

Abstract

A method of correcting a signal delay of a Hall sensor for an air compressor motor when the air compressor motor rotates at a high speed includes: a first step of calculating an offset angle from a voltage equation, to which a q-axis voltage and a d-axis voltage are applied, by performing zero current control when an inertia braking section occurs during an operation of the motor; a second step of calculating a reference offset angle .sub.offset of the Hall sensor and a delay time t by using an angular velocity at any two points in the inertia braking section by using the equation for calculating the offset angle ; and a third step of calculating a corrected q-axis voltage and a corrected d-axis voltage through the zero current control corrected and comparing the corrected q-axis voltage and the corrected d-axis voltage with a reference error.

Claims

1. A method of correcting a signal delay of a Hall sensor for an air compressor motor which controls a speed error of torque oscillation when the air compressor motor for a fuel cell vehicle rotates at a high speed, the method comprising: a first step of calculating an offset angle from a voltage equation, to which a q-axis voltage and a d-axis voltage are applied, by performing zero current control when an inertia braking section occurs during an operation of the motor; a second step of calculating a reference offset angle .sub.offset of the Hall sensor and a delay time t by using an angular velocity to at any two points in the inertia braking section by using the equation for calculating the offset angle ; and a third step of calculating a corrected q-axis voltage and a corrected d-axis voltage through the zero current control corrected by the reference offset angle .sub.offset and the delay time t and comparing the corrected q-axis voltage and the corrected d-axis voltage with a reference error, wherein when the corrected q-axis voltage and the corrected d-axis voltage exceed a range of the reference error, the first to third steps are repeated to correct the signal delay of the Hall sensor.

2. The method of claim 1, wherein the first step calculates the offset angle by using $={\tan }^{-1}\frac{V_d}{V_q}$ (V.sub.d: d-axis voltage, V.sub.q: q-axis voltage).

3. The method of claim 1, wherein in the first step, the q-axis voltage is a back electromotive voltage when the zero current control is performed, and 0 is applied to the d-axis voltage when there is neither an offset angle nor a delay time.

4. The method of claim 1, wherein the second step calculates the reference offset angle .sub.offset and the delay time t by applying an equation =.sub.offset+.sub.0t.sub.0 (.sub.0: angular velocity (rad/s), t.sub.0: delay time of Hall sensor) and inputting any angular velocities .sub.1 and .sub.2 and .sub.1 and .sub.2 in the inertia braking section.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a flowchart illustrating a method of correcting a signal delay of a Hall sensor for an air compressor motor according to an embodiment of the present disclosure.

DETAILED DESCRIPTION OF THE EMBODIMENTS

(2) Hereinafter, the present disclosure is described in detail with reference to the accompanying drawings. However, the present disclosure is not restricted or limited by the embodiments.

(3) Like reference numerals indicated in the respective drawings refer to members which perform substantially the same functions. An object and an effect of the present disclosure may be naturally understood or may become clearer from the following description. The object and the effect of the present disclosure are not restricted only by the following description. In addition, in the description of the present disclosure, the specific descriptions of publicly known technologies related with the present disclosure are omitted when it is determined that the specific descriptions may unnecessarily obscure the subject matter of the present disclosure.

(4) FIG. 1 is a flowchart illustrating a method of correcting a signal delay of a Hall sensor for an air compressor motor according to an embodiment of the present disclosure.

(5) Referring to FIG. 1, the method of correcting a signal delay of a Hall sensor for an air compressor motor may include first to third steps S10, S30 and S50.

(6) The method corrects a signal delay of a Hall sensor for an air compressor motor which controls a speed error of torque oscillation when the air compressor motor for a fuel cell vehicle rotates at a high speed. The first step S10 calculates an offset angle from a voltage equation, to which a q-axis voltage and a d-axis voltage are applied, by performing zero current control when an inertia braking section occurs during an operation of the motor.

(7) In the first to third steps S10, S30 and S50, the amount that V.sub.d deviates from 0 in the zero current control during inertia braking needs to be calculated in order to accurately and quickly compensate for a measurement delay element of a Hall sensor signal during compensation control. In this case, it is possible to mathematize a phenomenon in which an offset recognized by a controller becomes large due to a signal delay time of the Hall sensor in addition to a reference offset angle of the Hall sensor that indicates how much the Hall sensor deviates from a reference position of the motor.

(8) Equation 1, shown below, is used to analyze a relationship between V.sub.d and V.sub.q by using a trigonometric function relationship formula and adding a value, which is obtained by multiplying a reference offset angle and a time delay of the Hall sensor by an angular velocity, to an offset angle at a speed point 1 (angular velocity .sub.1) in the inertia braking section in which the zero current control is performed. Equation 2 likewise is derived at a speed point 2 (angular velocity .sub.2). The time derived from the reference offset angle and the signal delay of the Hall sensor is obtained based on Equations 1 and 2. The control for compensating for both the reference offset angle of the Hall sensor and the signal delay of the Hall sensor may be performed by using the time.

(9) In the first step S10, the offset angle may be calculated based on the following Equations 1 and 2. The method of calculating the reference offset angle of the position of the motor and the signal delay element of the Hall sensor performs the zero current control when the inertia braking section occurs during the operation of the motor and may be performed by being transformed to a d-q conversion Voltage equation using the following Equation 1 for convenience of calculation.

(10) $\begin{array}{cc}{V}_{\mathrm{dsyn}}=R_s{I}_{\mathrm{dsyn}}+L_d\frac{\mathrm{dIdsyn}}{\mathrm{dt}}-L_q{}_e{I}_{\mathrm{qsyn}}{V}_{\mathrm{dsyn}}=R_s{I}_{\mathrm{qsyn}}+L_q\frac{\mathrm{dIqsyn}}{\mathrm{dt}}-L_q{}_e{I}_{\mathrm{qsyn}}+V_{\mathrm{emf}}{V}_{\mathrm{emf}}={}_e.& \left[\mathrm{Equation}1\right]\end{array}$

(11) (V.sub.dsyn: d-axis output voltage, V.sub.qsyn: q-axis output voltage, R.sub.s: phase resistance, I.sub.dsyn: d-axis current measured value, I.sub.qsyn: q-axis current measured value, L.sub.d: d-axis inductance value, L.sub.q: q-axis inductance value, .sub.e: electric angular velocity, V.sub.emf: back electromotive force voltage, : back electromotive force constant)

(12) $\begin{array}{cc}={\tan }^{-1}\frac{V_d}{V_q}& \left[\mathrm{Equation}2\right]\end{array}$

(13) The first step (S10) may calculate the offset angle by using

(14) $={\tan }^{-1}\frac{V_d}{V_q}$
(V.sub.d: d-axis voltage, V.sub.q: q-axis voltage). The q-axis voltage may be a back electromotive voltage when the zero current control is performed. A value of 0 may be applied to the d-axis voltage when there is neither an offset angle nor a delay time.

(15) Regarding the offset angle, the reference offset angle error and the delay signal of the Hall sensor may be expressed as a function of speed, as shown in the following Equation 3.
=.sub.offset+.sub.0t.sub.0[Equation 3]
(.sub.0: angular velocity (rad/s), t.sub.0: delay time of Hall sensor signal)

(16) The second step S30 calculates the reference offset angle .sub.offset of the Hall sensor and the delay time t by using an angular velocity at any two points in the inertia braking section by using the equation for calculating the offset angle . The reference is made to the following Equation 4.

(17) $\begin{array}{cc}{}_{\mathrm{offset}}+{}_1{t}_0={\tan }^{-1}\frac{V_{d1}}{V_{q1}}{}_{\mathrm{offset}}+{}_2{t}_0={\tan }^{-1}\frac{V_{d2}}{V_{q2}}& \left[\mathrm{Equation}4\right]\end{array}$

(18) The second step S30 may calculate the reference offset angle .sub.offset and the delay time t (S305) by applying the equation =.sub.offset+.sub.0t.sub.0 (.sub.0: angular velocity (rad/s), t.sub.0: delay time of Hall sensor) and inputting any angular velocities .sub.1 and .sub.2 and .sub.1 and .sub.2 in the inertia braking section (S301 and S303).

(19) The second step S30 may acquire an average of values obtained by calculating the V.sub.d1 and V.sub.q1 values from a rpm of .sub.1 in order to improve measured value accuracy of V.sub.d1 and V.sub.q1, and may acquire an average of values obtained by calculating the V.sub.d2 and V.sub.q2 values from a rpm of .sub.2 in order to improve measured value accuracy of V.sub.d2 and V.sub.q2 (S301).

(20) When a solution is obtained by using Equation 4, it is possible to obtain the reference offset angle .sub.offset and the delay time t.sub.0. Thereafter, V.sub.d value is measured in the inertia braking section by the zero current control, such that it is possible to perform the correction again when the value exceeds the reference value (in consideration of a measurement error and a sampling error) close to 0.

(21) The third step S50 calculates a corrected q-axis voltage and a corrected d-axis voltage through the zero current control corrected by the reference offset angle .sub.offset and the delay time t. The third step s50 compares the corrected q-axis voltage and the corrected d-axis voltage with a reference error. When the corrected q-axis voltage and the corrected d-axis voltage exceed the range of the reference error, it is possible to correct the signal delay of the Hall sensor by repeating the first to third steps S10, S30 and S50.

(22) When the method of correcting a signal delay of a Hall sensor for an air compressor motor according to an embodiment of the present disclosure is applied, there may be an improved effect when a signal measurement delay of the Hall sensor is 18 s in the case of a fuel cell vehicle, a position measurement error of 11 occurs during a maximum speed operation, the signal measurement delay of the Hall sensor is increased by 4 s, a maximum speed is increased by 2.5 times, and a position error is increased by 3 times in comparison with a linear model following control (LMFC) vehicle manufactured in the related art.

(23) While the present disclosure has been described in detail above with reference to the representative embodiment, those of ordinary skill in the art to which the present disclosure pertains will understand that the embodiment may be variously modified without departing from the scope of the present disclosure. Accordingly, the scope of the present disclosure should not be limited to the described embodiments but should be defined not only by the appended claims but also by all changes or modified forms induced from an equivalent concept to the claims.