基于反电势观测器和锁相环的无刷直流电机霍尔位置误差补偿方法研究

针对无刷直流电机采用低分辨率霍尔传感器进行转子位置估计存在角度误差问题，提出基于反电势观测器和锁相环的误差补偿方法。根据霍尔传感器测量电角度原理，分析电角度固有安装误差和算法估算误差的原因，提出了结合反电势观测器重构角度误差，采用锁相环进行相位计算，实现对电角度误差进行补偿。在48V无刷直流电机上进行实验，通过对补偿后电角度和相电流响应比较，证明新方法能够有效的改善霍尔传感器角度误差问题，改善电流响应，实现对转矩脉动的抑制，能获得高效控制性能。

Research on Hall position error compensation method of BLDCM based on back EMF observer and phase-locked loop

An error compensation method based on back EMF observer and phase-locked loop(PLL) is proposed to solve the problem of angle error of the low resolution hall sensor. According to the principle of hall sensor detection, analyzes the reason of the error of the electrical angle and the error of the algorithm. In this paper, the angle error is reconstructed by using the back EMF observer, and the phase error is calculated by using the phase locked loop, and the estimated position of the hall sensor is compensated. The experiment was performed at the 48V BLDCM, by comparing the result of compensated electric angle and phase current, it proves that this method can improve the hall sensor angle effectively, improve the current response, suppress the torque ripple, achieve high performance control.