Title:
METHOD FOR FILTERING DEVIATION SIGNAL OF HALL POSITION SENSOR FOR ROBOT JOINT
Document Type and Number:
WIPO Patent Application WO/2024/065568
Kind Code:
A1
Abstract:
A method for filtering a deviation signal of a Hall position sensor for a robot joint. The method comprises: acquiring a duration of each Hall state during the operation of an electric motor (S10); calculating the current Hall average duration, the previous Hall average duration and a Hall average duration prior to the previous Hall average duration according to the duration of each Hall state (S20); determining an operation state of the electric motor according to a rotation speed (S30); if the electric motor is in an acceleration/deceleration state, calculating an ideal duration of the current Hall state by means of a three-step filter combined with a linear extrapolation filtering method (S402); and if the electric motor is in a steady-speed operation state, calculating an ideal duration of the current Hall state by means of a six-step filter combined with the linear extrapolation filtering method (S401). In the method for filtering a deviation signal of a Hall position sensor for a robot joint, two kinds of filters are provided for different operation states of an electric motor to achieve the best effect of filtering, and the manner of filtering provided in the method for filtering a deviation signal of a Hall position sensor for a robot joint avoids the situation of an estimated position of a rotor deviating due to the deviation of an absolute position.
Inventors:
HUAN JIAN (CN)
XU ZHONGJIAN (CN)
WEI HAIFENG (CN)
WANG HAOCHEN (CN)
XU ZHONGJIAN (CN)
WEI HAIFENG (CN)
WANG HAOCHEN (CN)
Application Number:
PCT/CN2022/122971
Publication Date:
April 04, 2024
Filing Date:
September 30, 2022
Export Citation:
Assignee:
UNIV JIANGSU SCIENCE & TECH (CN)
International Classes:
H03H17/02; H02P21/18
Foreign References:
| CN108847792A | 2018-11-20 | |||
| CN111049456A | 2020-04-21 | |||
| CN111146980A | 2020-05-12 | |||
| CN103649685A | 2014-03-19 | |||
| CN109905058A | 2019-06-18 | |||
| US20180198389A1 | 2018-07-12 |
Other References:
ZENG FENG-PING: "Sine Wave Driver with Switched Hall Position Sensor for Permanent Magnet Synchronous Motor", SMALL & SPECIAL ELECTRICAL MACHINES, no. 8, 28 August 2010 (2010-08-28), pages 56 - 58, 71, XP093152158
Attorney, Agent or Firm:
NANJING SUGAO PATENT AND TRADEMARK FIRM (ORDINARY PARTNERSHIP) (CN)
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