Dual armature winding multiple electromagnetic torque single stator single rotor reluctance motor controller

Abstract

The present invention discloses a controller and method for a dual armature winding multiple electromagnetic torque single stator single rotor reluctance motor. The controller and method include: a first subtractor, a speed regulator, a current distributor, a stator side armature winding control unit, a rotor side armature winding control unit, a motor axial encoder and a speed calculator; the first subtractor obtains a motor speed given value and a motor speed feedback value, and sends the difference to the speed regulator, the speed regulator outputs a current given value which is passed into the current distributor, the current distributor outputs a current given value to the stator side armature winding control unit and the rotor side armature winding control unit, the stator side armature winding control unit and the rotor side armature winding control unit respectively perform double closed-loop control on the armature windings on both sides of the stator and rotor. In the face of different working conditions such as stator and rotor winding faults and drive circuit faults, the present invention can use the drive circuit alone to provide a certain torque output capacity and ensure sufficient fault tolerance.

Description

Technical Field

[0001] The present invention belongs to an AC motor drive control device, and specifically relates to a dual-armature winding multiple electromagnetic torque single-stator single-rotor reluctance motor controller, which can be applied to the drive control of the dual-armature winding multiple electromagnetic torque single-stator single-rotor reluctance motor. Background Art

[0002] In recent years, with the development of new energy vehicles and space shuttles, the reliability of motors and their drivers has received more and more attention in aerospace applications. However, various faults will inevitably occur during the operation of the motor, such as insulation aging of the armature winding, characteristic changes of electronic components, electromagnetic interference, etc. In addition, the drive system may also fail, such as power supply system failure, damage to the bridge arm of the drive circuit, etc. Therefore, it is of great significance to improve the fault tolerance of the motor.

[0003] At present, motor fault tolerance mainly focuses on the innovation of motor topology, design methods and control technology. Compared with three-phase permanent magnet motors, multi-phase permanent magnet synchronous motors have higher torque-to-weight ratio, power density and higher efficiency. Therefore, most of the existing fault-tolerant motors are about the design and control of multi-phase motors, such as five-phase permanent magnet motors, dual three-phase permanent magnet synchronous motors, twelve-phase permanent magnet synchronous motors, etc. These motors mainly increase the number of phases of the stator side windings of the motor, or increase the number of sets of stator side windings, resulting in stator space conflicts and waste of rotor side space.

[0004] Recently, a dual armature winding multiple electromagnetic torque single stator single rotor reluctance motor was proposed in the invention patent No. 201911304762.X, such as Figure 1 As shown, it includes stator armature winding 01, stator 02, rotor armature winding 03, rotor 04, and other common structural parts such as shaft, housing, end cover, position encoder, etc. The characteristics of this motor are: the stator winding includes three phases A, B, and C, as shown in Figure 2 (a); the rotor winding 3 adopts fractional slot concentrated winding, and its winding includes two phases D and E, as shown in Figure 2 (b), and each phase winding consists of a DC part and an AC part. The motor has three torque components. The rotor winding and the stator salient pole form a DC biased vernier reluctance motor. The MMF generated by the DC component is modulated by the stator teeth, and the generated excitation field interacts with the MMF generated by the AC current to generate torque. The DC components of the rotor winding and the stator armature winding form a salient pole rotor electric excitation synchronous motor. At the same time, under the modulation of the stator teeth, the rotating MMF generated by the stator armature winding interacts with the rotating magnetic field generated by the AC component of the rotor to generate another torque component.

[0005] The stator and rotor of the motor each have a set of windings, which fully utilizes the space on the rotor side. Through the tooth-slot coordination between the stator and the rotor, the motor will contain multiple electromagnetic torque components during normal operation, with extremely high torque density. When one set of windings fails, full-load output can be achieved by reconstructing or increasing the current configuration of the healthy winding, ensuring sufficient fault tolerance and having broad application prospects. However, no specific explanation is given for the control problem of the motor. Summary of the invention

[0006] In order to solve the control problem of motors in the prior art, the purpose of the present invention is to provide a dual armature winding multiple electromagnetic torque single stator single rotor reluctance motor controller, which can still ensure a certain torque output capacity when a failure occurs in the motor rotor, stator or a single set of drive devices.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] A dual armature winding multiple electromagnetic torque single stator single rotor reluctance motor controller, comprising: a first subtractor, a speed regulator, a current distributor, a stator side armature winding control unit, a rotor side armature winding control unit, a motor axial encoder and a speed calculator;

[0009] The first subtractor obtains the motor speed set value and the motor speed feedback value, and sends the difference to the speed regulator, the speed regulator outputs the current set value and passes it into the current distributor, the current distributor outputs the current set value to the stator side armature winding control unit and the rotor side armature winding control unit, the stator side armature winding control unit and the rotor side armature winding control unit respectively perform double closed-loop control on the armature windings on both sides of the stator and rotor;

[0010] The motor axial encoder detects and obtains the rotor position signal, and obtains the motor speed feedback value through the speed calculator.

[0011] Optionally, the stator-side armature winding control unit includes a second subtractor, a third subtractor, a stator d-axis current regulator, a stator q-axis current regulator, a stator voltage converter, a stator pulse width modulator and a stator converter;

[0012] The stator d and q axis current given values ​​output by the current distributor and the stator d and q axis current feedback values ​​are sent to a subtractor, and the current difference processed by the subtractor is sent to a stator current regulator, and the stator current regulator outputs the stator d and q axis voltage given values, and the d and q axis current difference is always zero by adjusting the stator d and q axis voltage given values;

[0013] The stator d-axis voltage set value, the stator q-axis voltage set value, and the rotor position signal are input into the stator voltage converter, and the stator voltage converter performs park inverse transformation on the voltage to output the stator α-axis voltage set value and the stator β-axis voltage set value, and inputs them into the stator pulse width modulator to perform space vector pulse width modulation to generate stator A, B, C phase PWM signals respectively and input them into the stator converter;

[0014] The output voltage of the stator converter acts on the three-phase stator winding of the reluctance motor, controls the current of phases A, B, and C of the stator winding, and generates a sinusoidal current signal corresponding to the input PWM signal.

[0015] Optionally, the stator converter includes a DC power supply U dc , 6 MOS field effect tubes and 6 freewheeling diodes are connected to form a three-phase half-bridge inverter circuit; wherein each MOS field effect tube and a freewheeling diode constitute a submodule, the source of the MOS field effect tube is connected to the negative electrode of the freewheeling diode, and the drain of the MOS field effect tube is connected to the positive electrode of the freewheeling diode; the source of the first MOS field effect tube S1, the third MOS field effect tube S3, and the fifth MOS field effect tube S5 are connected to the DC power supply U dc The positive electrode is connected, and the drains of the first MOS field effect transistor S1, the third MOS field effect transistor S3, and the fifth MOS field effect transistor S5 are respectively connected to the A, B, and C phase windings of the motor stator. At the same time, the drains of the first MOS field effect transistor S1, the third MOS field effect transistor S3, and the fifth MOS field effect transistor S5 are connected to the source of the second MOS field effect transistor S2, the fourth MOS field effect transistor S4, and the sixth MOS field effect transistor S6; the source of the second MOS field effect transistor S2, the fourth MOS field effect transistor S4, and the sixth MOS field effect transistor S6 is connected to the negative electrode of the DC power supply; the A-phase PWM signal is used as a control signal for the gate of the first MOS field effect transistor S1 and the second MOS field effect transistor S2 of the converter, the B-phase PWM signal is used as a control signal for the gate of the third MOS field effect transistor S3 and the fourth MOS field effect transistor S4, and the C-phase PWM signal is used as a control signal for the gate of the fifth MOS field effect transistor S5 and the sixth MOS field effect transistor S6.

[0016] Optionally, it also includes a stator current converter and a stator Hall current sensor; the stator Hall current sensor measures the A, B, and C phase current signals respectively, and the motor rotor position signal detected by the motor axial encoder and the three-phase current signal are input into the stator current converter. The current converter performs Clark and Park coordinate transformation to obtain stator d and q axis DC current signals, which are used as the stator d axis current feedback value and the stator q axis current feedback value respectively.

[0017] Optionally, the pulse width modulator generates an ABC phase PWM signal comprising:

[0018] ① The pulse width modulator is u * α_s , u * β_s Perform Clark inverse transformation to obtain the voltage given value of the three-phase stationary coordinate system u * A , u * B , u * C :

[0019]

[0020] in, u * A is the given value of the A-phase AC voltage in the stationary coordinate system, u * B is the given value of the B-phase AC voltage in the stationary coordinate system, u * C is the given value of the C-phase AC voltage in the stationary coordinate system;

[0021] ② Modulation generates the duty cycle of the A-phase AC voltage T A = u * A / U dc , B phase AC voltage duty cycle T B = u * B / U dc , C phase AC voltage duty cycle T C = u * C / U dc ;in, U dc is the DC bus power supply voltage of the converter;

[0022] The stator current converter is used to convert the motor rotor position signal i as well as i A ,i B , i C Perform the stationary-rotating coordinate transformation as follows to obtain the stator d-axis current feedback value. i d_s , stator q-axis current feedback value i q_s :

[0023] .

[0024] Optionally, the rotor side armature winding control unit includes a fourth subtractor, a fifth subtractor, a sixth subtractor, a seventh subtractor, an eighth subtractor, a rotor d1 axis current regulator, a rotor q1 axis current regulator, a rotor 0 axis current regulator, a rotor d2 axis current regulator, a rotor q2 axis current regulator, a rotor dq1 voltage converter, a rotor 0 axis voltage calculator, a rotor dq2 voltage converter, a rotor positive pulse width modulator, a rotor negative pulse width modulator, and a rotor converter;

[0025] The rotor d1, q1, 0, d2 and q2 axis current given values ​​output by the current distributor and the rotor d1, q1, 0, d2 and q2 axis current feedback values ​​are sent to a subtractor, the subtractor outputs a current difference which is sent to a rotor current regulator, the rotor current regulator outputs a rotor voltage given value, and the rotor voltage given value is adjusted so that its difference is always zero;

[0026] The rotor d1, q1 axis voltage given values ​​and the rotor position signal are input into the rotor dq1 voltage converter, and the stator dq1 voltage converter performs a park inverse transformation on the voltage to output the rotor α axis voltage given value and the rotor β axis voltage given value. ， And input the rotor forward pulse width modulator, perform space vector pulse width modulation to generate rotor D and E phase forward bias PWM signals respectively, and input them into the rotor converter;

[0027] The rotor d2 and q2 axis voltage given values ​​and the rotor position signal are input into the rotor dq2 voltage converter, and the stator dq2 voltage converter performs a park inverse transformation on the voltage to output the rotor α2 axis voltage given value and the rotor β2 axis voltage given value. ， And input the rotor negative pulse width modulator, perform space vector pulse width modulation to generate rotor D and E phase negative bias PWM signals respectively, and input them into the rotor converter;

[0028] The rotor 0-axis voltage outputs a DC voltage duty cycle signal through a rotor 0-axis voltage calculator;

[0029] The output voltage of the rotor converter acts on the two-phase winding of the reluctance motor rotor, controls the current of the D and E phases of the stator winding, and generates a sinusoidal current signal corresponding to the positive and negative bias of the input PWM signal.

[0030] Optionally, the rotor converter includes a DC power supply, 12 MOS field effect transistors and 12 freewheeling diodes connected to form a dual three-phase half-bridge inverter circuit; wherein each MOS field effect transistor and a freewheeling diode constitute a submodule, the source of the MOS field effect transistor is connected to the negative electrode of the freewheeling diode, and the drain of the MOS field effect transistor is connected to the positive electrode of the freewheeling diode; the first MOS field effect transistor M1, the third MOS field effect transistor M3, the fifth MOS field effect transistor M5, the seventh MOS field effect transistor M7, the ninth MOS field effect transistor M9, the eleventh MOS field effect transistor M 11 The source of the MOS field effect transistor M1 is connected to the positive electrode of the DC power supply, the first MOS field effect transistor M1, the third MOS field effect transistor M3, the fifth MOS field effect transistor M5, the seventh MOS field effect transistor M7, the ninth MOS field effect transistor M9, the eleventh MOS field effect transistor M 11 The drain of the second MOS field effect transistor M2, the fourth MOS field effect transistor M4, the sixth MOS field effect transistor M6, the eighth MOS field effect transistor M8, the tenth MOS field effect transistor M 10 , 12th MOS field effect tube M 12 The source level of the second MOS field effect transistor M2, the fourth MOS field effect transistor M4, the sixth MOS field effect transistor M6, the eighth MOS field effect transistor M8, the tenth MOS field effect transistor M 10 , 12th MOS field effect tube M 12 The source of the first MOS field effect transistor M1 and the drain of the fifth MOS field effect transistor M5 are connected to the positive input terminal of the rotor D and E windings, respectively, and the drain of the seventh MOS field effect transistor M7 and the eleventh MOS field effect transistor M 11 The drain of the third MOS field effect transistor M3 and the ninth MOS field effect transistor M9 are respectively connected to the negative input terminal of the rotor D and E windings, and the drain of the third MOS field effect transistor M3 and the ninth MOS field effect transistor M9 are respectively connected to N1 and N2 of the rotor D and E windings; the D and E phase forward bias PWM signals are respectively the control signals of the first MOS field effect transistor M1, the third MOS field effect transistor M3, the fifth MOS field effect transistor M5, the second MOS field effect transistor M2, the fourth MOS field effect transistor M4, and the sixth MOS field effect transistor M6, and the D and E phase negative bias PWM signals are respectively the control signals of the seventh MOS field effect transistor M7, the ninth MOS field effect transistor M9, the eleventh MOS field effect transistor M 11 , the eighth MOS field effect transistor M8, the tenth MOS field effect transistor M 10 , 12th MOS field effect tube M 12 control signal.

[0031] Optionally, it also includes a rotor Hall current sensor and a rotor current converter; the rotor Hall current sensor measures the D and E phase current signals respectively. - The motor rotor position signal detected by the motor axial encoder and the D and E phase current signals are input into the rotor current converter, and the current converter performs a stationary-rotating coordinate transformation to obtain the rotor d1, q1, d2, and q2 axis DC current signals, which are used as the rotor d1 axis current feedback value and the rotor q1 axis current feedback value respectively. 、 Rotor d2-axis current feedback value, rotor q2-axis current feedback value.

[0032] Optionally, the rotor pulse width modulator generates D and E phase PWM signals including:

[0033] ① u * α1_r , u * β1_r The relationship between the two-phase voltage and the control signals of the first, third and fifth MOS field effect transistors is:

[0034]

[0035] Among them, Q1, Q3, and Q5 are control signals of the first, third, and fifth MOS field effect transistors respectively;

[0036] u * α2_r , u * β2_r The relationship between the two-phase voltage and the control signals of the seventh, ninth and eleventh MOS field effect transistors is the same as the above formula, and only the corresponding parameters need to be changed;

[0037] ② According to ①, the D+ phase AC voltage duty cycle signal can be obtained T D+ , Winding midpoint duty cycle signal T N1 , E+ phase AC voltage duty cycle signal T E+ , D-phase AC voltage duty cycle signal T D- , Winding midpoint duty cycle signal T N2 , E-phase AC voltage duty cycle signal T E- ; For rotor 0 axis voltage u * 0_rThe rotor 0 axis voltage calculator outputs a DC voltage duty cycle signal T 0= u * 0_r / U dc ;

[0038] ③ Finally, the D+ phase AC voltage duty cycle signal is obtained T D+ : T D+ = T D+ + T 0; Winding midpoint duty cycle signal T N1 : T N1 = T N1 + T 0; E+ phase AC voltage duty cycle signal T E+ : T E+ = T E+ + T 0; D-phase AC voltage duty cycle signal T D- : T D- = T D- - T 0; Winding midpoint duty cycle signal T N2 : T N2 = T N1 - T 0; E-phase AC voltage duty cycle signal T E- : T E- = T E- - T 0;

[0039] The rotor current converter is used to convert the motor rotor position signal i as well as i D+ , i E+ , i D- 、i E-- Perform the stationary-rotating coordinate transformation as follows to obtain the rotor d1 axis current feedback value i d1_r, stator q1 axis current feedback value i q1_r , rotor d2 axis current feedback value i d2_r , stator q2 axis current feedback value i q2_r , rotor zero axis current feedback value i 0_r ;

[0040] .

[0041] A control method for a dual-armature winding multiple electromagnetic torque single-stator single-rotor reluctance motor, comprising:

[0042] The formula for the rotor side torque is: ;

[0043] in L r1 is the equivalent inductance of the motor rotor axis 0, i 0 is the motor rotor 0 axis current, i r q is the motor rotor q-axis current, defined , where I r rms is the effective value of the rotor current; I r dc is the DC component; I r am is the effective value of the AC component; the rotor side torque component is , the above formula is k Find the partial derivative and get k =The output torque is maximum;

[0044] The formula for the stator side torque is: ,in P as is the number of stator pole pairs; L s d is stator equivalent d Shaft inductance; L s q is stator equivalent q Shaft inductance; L f is the rotor equivalent magnetizing inductance; i 0 excitation current; set i s is the effective value of the stator current, and the stator d-axis and q-axis currents can be expressed as i sq = i s sin s , i s d = i s cosσ, σ is the angle between the effective value of the stator current and the d-axis current; Substituting the above formula into the stator side torque formula, we can get:

[0045]

[0046] Taking the partial derivative of the torque with respect to σ, when the maximum torque current output is achieved, the angle is:

[0047] .

[0048] Compared with the existing technology, it has the following advantages:

[0049] The present invention provides two sets of drive circuits for the motor structure of a double armature winding multiple electromagnetic torque single stator single rotor reluctance motor to perform double closed-loop control on the armature windings on both sides of the stator and rotor, respectively, so as to realize the normal operation of the motor under the control of the maximum torque current ratio. The stator and rotor of the motor are respectively equipped with armature windings, and the torque formed is composed of three torque components of the stator winding, the rotor winding and the stator and rotor windings acting together. The use of two independent drive circuits can increase the fault tolerance performance of the motor. When the rotor armature winding or the stator armature winding fails, only the faulty part can be cut off, and the non-faulty part can still operate normally. In the face of different working conditions such as stator and rotor winding failures and drive circuit failures, the drive circuit can be used alone to provide a certain torque output capacity, thereby ensuring sufficient fault tolerance performance.

[0050] The control method of the present invention adopts two sets of drive control devices to perform double closed-loop control for a double-armature winding multiple electromagnetic torque single-stator single-rotor reluctance motor, and can still ensure a certain torque output capacity when the motor rotor, stator or a single set of drive devices fails. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a topological structure diagram of a dual armature winding multiple electromagnetic torque single stator single rotor reluctance motor in the prior art;

[0052] FIG2 (a) is a waveform diagram of the stator armature winding current of the prior art;

[0053] FIG2( b ) is a current waveform diagram of the rotor armature winding of the prior art;

[0054] Figure 3 It is a block diagram of the stator-rotor double closed-loop control system of the double armature winding multiple electromagnetic torque single-stator single-rotor reluctance motor of the present invention;

[0055] Figure 4 It is a schematic diagram of the structure of the stator current converter of the present invention;

[0056] Figure 5 It is a schematic diagram of the structure of the rotor current converter of the present invention. DETAILED DESCRIPTION

[0057] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0058] like Figure 3 As shown, a dual armature winding multiple electromagnetic torque single stator single rotor reluctance motor controller of the present invention controls the stator and rotor armature currents respectively by a driving device, and mainly includes a first subtractor 1, a second subtractor 2, a third subtractor 3, a fourth subtractor 4, a fifth subtractor 5, a sixth subtractor 6, a seventh subtractor 7, an eighth subtractor 8, a speed regulator 9, a current distributor 10, a stator d-axis current regulator 11, a stator q-axis current regulator 12, a rotor d1-axis current regulator 13, a rotor q1-axis current regulator 14, a rotor 0-axis current regulator 15, Rotor d2 axis current regulator 16, rotor q2 axis current regulator 17, stator voltage converter 18, rotor dq1 voltage converter 19, rotor 0 axis voltage calculator 20, rotor dq2 voltage converter 21, stator pulse width modulator 22, rotor positive pulse width modulator 23, rotor negative pulse width modulator 24, stator current converter 25, rotor current converter 26, motor axial encoder 30, stator Hall current sensor 28, rotor Hall current sensor 32, speed calculator 31, stator current converter 27 and rotor current converter 33;

[0059] Motor speed setpoint n * and motor speed feedback value n is sent to the first subtractor 1, n * -n The difference is sent to the speed regulator 9, and the speed regulator 9 outputs a current given value i * s , by adjusting i * s Make n *-n The difference is always zero, that is n Always follow n * changes. i * s into the current distributor 10, which outputs the stator d-axis current given value i * d_s , stator q-axis current given value i * q_s , rotor d1 axis current given value i * d1_r , rotor q1 axis current given value i * q1_r , zero axis current given value i * 0_r , rotor d2 axis current given value i * d2_r , rotor q2 axis current given value i * q2_r ;

[0060] The motor speed feedback value n The rotor position signal is detected by the motor axial encoder 30 i The speed calculator 31 obtains: n =9.55×d i / d t ;

[0061] The speed regulator 9 outputs a current given value according to the following process i * s :

[0062] The speed regulator 9 judges its input. n * -n The difference is zero, then keep i * s is a fixed value and is output; if n * -n If the difference is positive, the current setting value will be increased continuously. i * s , until the motor speed increases so that n * -n is zero, keep it as a constant value to maintainn * -n The difference is always zero; if n * -n If the difference is negative, the current setting value is continuously reduced. i * s , until the motor speed decreases so that n * -n Zero, keep i * s As a fixed value, to maintain n * -n The difference is always zero;

[0063] (1) For the control of the stator side armature winding, there are:

[0064] Stator d-axis current given value i * d_s and stator d-axis current feedback value i d_s is sent to the second subtractor 2, i * d_s - i d_s The difference is sent to the stator d-axis current regulator 11, and the stator d-axis current regulator 11 outputs the stator d-axis voltage given value u * d_s , by adjusting u * d_s , so that i * d_s -i d_s The difference is always zero, that is, i * d_s Conduct error-free tracking;

[0065] Stator q-axis current given value i * q_s and stator q-axis current feedback value i q_s is sent to the third subtractor 3, i * q_s - i q_sThe difference is sent to the stator q-axis current regulator 12, and the stator q-axis current regulator 12 outputs the stator q-axis voltage given value u * q_s , by adjusting u * q_s , so that i * q_s -i q_s The difference is always zero, that is, i * q_s Conduct error-free tracking;

[0066] u * d_s , u * q_s , i The stator voltage converter 18 performs a park inverse transformation on the voltage and outputs the u * α_s , u * β_s . u * α_s , u * β_s The stator pulse width modulator 22 is input to perform space vector pulse width modulation (SVPWM) to generate stator A, B, and C phase PWM signals respectively.

[0067] like Figure 4 As shown, the stator converter 25 is powered by a DC power supply U dc , 6 MOS field effect tubes and 6 freewheeling diodes are connected to form a three-phase half-bridge inverter circuit. Each MOS field effect tube and a freewheeling diode form a submodule, the source of the MOS field effect tube is connected to the negative electrode of the freewheeling diode, and the drain of the MOS field effect tube is connected to the positive electrode of the freewheeling diode. The source of the first MOS field effect tube S1, the third MOS field effect tube S3, and the fifth MOS field effect tube S5 are connected to the DC power supply. U dcThe positive electrode is connected, and the drains of the first MOS field effect transistor S1, the third MOS field effect transistor S3, and the fifth MOS field effect transistor S5 are respectively connected to the A, B, and C phase windings of the motor stator. At the same time, the drains of the first MOS field effect transistor S1, the third MOS field effect transistor S3, and the fifth MOS field effect transistor S5 are connected to the source of the second MOS field effect transistor S2, the fourth MOS field effect transistor S4, and the sixth MOS field effect transistor S6; the source of the second MOS field effect transistor S2, the fourth MOS field effect transistor S4, and the sixth MOS field effect transistor S6 is connected to the negative electrode of the DC power supply; the A-phase PWM signal is used as a control signal for the gate of the first MOS field effect transistor S1 and the second MOS field effect transistor S2 of the converter, the B-phase PWM signal is used as a control signal for the gate of the third MOS field effect transistor S3 and the fourth MOS field effect transistor S4, and the C-phase PWM signal is used as a control signal for the gate of the fifth MOS field effect transistor S5 and the sixth MOS field effect transistor S6.

[0068] like Figure 4 As shown, the output voltage of the stator converter 25 acts on the stator three-phase winding of the dual-armature winding multiple electromagnetic torque single-stator single-rotor reluctance motor 29, controls the current of the stator winding A, B, and C phases, generates a sinusoidal current signal corresponding to the input PWM signal, and finally realizes the zero-static error tracking of the stator d and q axis currents;

[0069] The stator Hall current sensor 28 measures the A, B, and C phase current signals respectively. i A , i B , i C , the motor rotor position signal detected by the motor axial encoder 30 i as well as i A , i B , i C The current is input into the stator current converter 27, and the Clark and Park coordinates are transformed by the current converter 27 to obtain the stator d and q axis DC current signals, which are used as the stator d axis current feedback values ​​respectively. i d_s , stator q-axis current feedback value i q_s .

[0070] The stator d-axis current regulator 11 outputs a stator d-axis voltage given value according to the following process:

[0071] The stator d-axis current regulator judges its input. If i * d_s-i d_s The difference is zero, then keep u * d_s is a fixed value and is output; if i * d_s -i d_s If the difference is positive, the stator d-axis voltage setting value is continuously increased. u * d_s , until the motor stator d-axis current feedback value increases so that i * d_s -i d_s Zero, keep u * d_s To maintain a fixed value i * d_s -i d_s The difference is always zero; if i * d_s -i d_s If the difference is negative, the stator d-axis voltage will be continuously reduced. u * d_s Set the value until the motor stator d-axis current feedback value decreases so that i * d_s -i d_s Zero, keep u * d_s To maintain a fixed value i * d_s -i d_s The difference is always zero;

[0072] The process of outputting a given voltage value of the stator q-axis current regulator 12 is the same as the above process, and only the corresponding parameters need to be changed.

[0073] The stator voltage converter 18 is used to convert the motor rotor position signal i as well as u * d_s , u * q_s Perform Park inverse transformation according to the following formula to obtain the stator α-axis voltage given value u* α_s , stator β axis voltage given value u * β_s , N r is the number of rotor slots.

[0074]

[0075] The pulse width modulator 22 generates the ABC phase PWM signal including the following process:

[0076] ① The pulse width modulator 22 is connected to the input voltage u * α_s , u * β_s Perform Clark inverse transformation to obtain the voltage given value of the three-phase stationary coordinate system u * A , u * B , u * C :

[0077]

[0078] in, u * A is the given value of the A-phase AC voltage in the stationary coordinate system, u * B is the given value of the B-phase AC voltage in the stationary coordinate system, u * C is the given value of the C-phase AC voltage in the stationary coordinate system.

[0079] ② Modulation generates the duty cycle of the A-phase AC voltage T A = u * A / U dc , B phase AC voltage duty cycle T B = u * B / U dc , C phase AC voltage duty cycle T C = u *C / U dc .in, U dc is the DC bus power supply voltage of the converter;

[0080] The stator current converter 27 is used to convert the motor rotor position signal i as well as i A , i B , i C Perform the stationary-rotating coordinate transformation as follows to obtain the stator d-axis current feedback value. i d_s , stator q-axis current feedback value i q_s :

[0081]

[0082] (2) For the control of the armature winding on the rotor side, there are:

[0083] Rotor d1 axis current given value i * d1_r The rotor d1 axis current feedback value i d1_r is sent to the fourth subtractor 4, i * d1_r -i d1_r The difference is sent to the rotor d1 axis current regulator 13, and the rotor d1 axis current regulator 13 outputs the rotor d1 axis voltage given value u * d1_r , by adjusting u * d1_r , so that i * d1_r -i d1_r The difference is always zero, that is, i * d1_r Conduct error-free tracking;

[0084] Rotor q1 axis current given value i * q1_r and the rotor q1 shaft current feedback value i q1_r is sent to the fifth subtractor 5, i * q1_r-i q1_r The difference is sent to the rotor q1 axis current regulator 14, and the rotor q1 axis current regulator 14 outputs the rotor q1 axis voltage given value u * q1_r , by adjusting u * q1_r , so that i * q1_r -i q1_r The difference is always zero, that is, i * q1_r Conduct error-free tracking;

[0085] Rotor 0 axis current given value i * 0_r and rotor 0 axis current feedback value i 0_r is sent to the sixth subtractor 6, i * 0_r - i 0_r The difference is sent to the rotor 0 axis current regulator 15, and the rotor 0 axis current regulator 15 outputs the rotor 0 axis voltage given value u * 0_r , by adjusting u * 0_r , so that i * 0_r -i 0_r The difference is always zero, that is, i * 0_r Conduct error-free tracking;

[0086] Rotor d2 axis current given value i * d2_r and rotor d2 axis current feedback value i d2_r is sent to the seventh subtractor 7, i * d2_r -i d2_r The difference is sent to the rotor d2 axis current regulator 16, and the rotor d2 axis current regulator 16 outputs the rotor d2 axis voltage set value u * d2_r , by adjustingu * d2_r , so that i * d2_r -i d2_r The difference is always zero, that is, i * d2_r Conduct error-free tracking;

[0087] Rotor q2 axis current given value i * q2_r and the rotor q2 axis current feedback value i q2_r is sent to the eighth subtractor 8, i * q2_r -i q2_r The difference is sent to the rotor q2 axis current regulator 17, and the rotor q2 axis current regulator 17 outputs the rotor q2 axis voltage given value u * q2_r , by adjusting u * q2_r , so that i * q2_r -i q2_r The difference is always zero, that is, i * q2_r Conduct error-free tracking;

[0088] u * d1_r , u * q1_r , i The rotor dq1 voltage converter 19 is input, and the stator dq1 voltage converter 19 performs a park inverse transformation on the voltage and outputs u * α1_r , u * β1_r . u * α1_r , u * β1_r The rotor forward pulse width modulator 23 is input to perform space vector pulse width modulation (SVPWM) to generate rotor D and E phase forward bias PWM signals respectively;

[0089] u * d2_r , u * q2_r , i The rotor dq2 voltage converter 21 is input, and the stator dq2 voltage converter 21 performs a park inverse transformation on the voltage and outputs u * α2_r , u * β2_r . u * α2_r , u * β2_r The rotor negative pulse width modulator 24 is input to perform space vector pulse width modulation (SVPWM) to generate rotor D and E phase negative bias PWM signals respectively;

[0090] like Figure 5 As shown, the rotor converter 26 is connected by a DC power supply, 12 MOS field effect transistors and 12 freewheeling diodes to form a dual three-phase half-bridge inverter circuit. Each MOS field effect transistor and a freewheeling diode form a submodule, the source of the MOS field effect transistor is connected to the negative electrode of the freewheeling diode, and the drain of the MOS field effect transistor is connected to the positive electrode of the freewheeling diode. The first MOS field effect transistor M1, the third MOS field effect transistor M3, the fifth MOS field effect transistor M5, the seventh MOS field effect transistor M7, the ninth MOS field effect transistor M9, the eleventh MOS field effect transistor M 11 The source of the MOS field effect transistor M1 is connected to the positive electrode of the DC power supply, the first MOS field effect transistor M1, the third MOS field effect transistor M3, the fifth MOS field effect transistor M5, the seventh MOS field effect transistor M7, the ninth MOS field effect transistor M9, the eleventh MOS field effect transistor M 11 The drain of the second MOS field effect transistor M2, the fourth MOS field effect transistor M4, the sixth MOS field effect transistor M6, the eighth MOS field effect transistor M8, the tenth MOS field effect transistor M 10 , 12th MOS field effect tube M 12 The source level of the second MOS field effect transistor M2, the fourth MOS field effect transistor M4, the sixth MOS field effect transistor M6, the eighth MOS field effect transistor M8, the tenth MOS field effect transistor M 10 , 12th MOS field effect tube M 12 The source of the first MOS field effect transistor M1 and the drain of the fifth MOS field effect transistor M5 are connected to the positive input terminals of the rotor D and E windings, respectively, and the drain of the seventh MOS field effect transistor M7 and the eleventh MOS field effect transistor M 11The drain of the third MOS field effect transistor M3 and the ninth MOS field effect transistor M9 are connected to the negative input terminals of the rotor D and E windings, respectively. The D and E phase forward bias PWM signals are control signals of the first MOS field effect transistor M1, the third MOS field effect transistor M3, the fifth MOS field effect transistor M5, the second MOS field effect transistor M2, the fourth MOS field effect transistor M4, and the sixth MOS field effect transistor M6, respectively. The D and E phase negative bias PWM signals are control signals of the seventh MOS field effect transistor M7, the ninth MOS field effect transistor M9, the eleventh MOS field effect transistor M 11 , the eighth MOS field effect transistor M8, the tenth MOS field effect transistor M 10 , 12th MOS field effect tube M 12 control signal.

[0091] like Figure 5 As shown, the output voltage of the rotor converter 26 acts on the two-phase winding of the rotor of the dual-armature winding multiple electromagnetic torque single-stator single-rotor reluctance motor, controls the current of the D and E phases of the stator winding, generates a sinusoidal current signal corresponding to the positive and negative bias of the input PWM signal, and finally realizes the zero-static-error tracking of the rotor d1, q1, d2, q2 axis current;

[0092] The rotor Hall current sensor 32 measures the D and E phase current signals respectively. i D+ , i E+ , i D- 、i E- , the motor rotor position signal detected by the motor axial encoder 31 i as well as i D+ , i E+ , i D- 、i E- The rotor current converter 33 is inputted, and the current converter 33 performs a stationary-rotating coordinate transformation to obtain the rotor d1, q1, d2, and q2 axis DC current signals, which are respectively used as the rotor d1 axis current feedback values. i d1_r , rotor q1 axis current feedback value i q1_r 、 Rotor d2 axis current feedback value i d2_r , rotor q2 axis current feedback value i q2_r .

[0093] The rotor d1 axis current regulator 13 outputs the rotor d1 axis voltage given value according to the following process:

[0094] The rotor d1 axis current regulator 13 judges its input. If i * d1_r -i d1_r The difference is zero, then keep u * d1_r is a fixed value and is output; if i * d1_r -i d1_r If the difference is positive, the rotor d1 shaft voltage setting value will be increased continuously. u * d1_r , until the motor rotor d1 axis current feedback value increases so that i * d1_r -i d1_r Zero, keep u * d1_r To maintain a fixed value i * d1_r -i d1_r The difference is always zero; if i * d1_r -i d1_r If the difference is negative, the rotor d1 shaft voltage will be continuously reduced. u * d1_r Given value, until the motor rotor d1 axis current feedback value decreases so that i * d1_r -i d1_r Zero, keep u * d1_r To maintain a fixed value i * d1_r -i d1_r The difference is always zero;

[0095] The process of outputting voltage given values ​​of the rotor q1 axis current regulator 14, the rotor 0 axis current regulator 15, the rotor d1 axis current regulator 16, and the rotor q2 axis current regulator 17 is the same as the above process, and only the corresponding parameters need to be changed.

[0096] The rotor forward voltage converter 19 is used to convert the motor rotor position signal i as well as u * d1_r , u * q1_r Perform Park inverse transformation according to the following formula to obtain the rotor α axis voltage set value: u * α1_r , rotor β axis voltage given value u * β1_r , N s is the number of stator slots.

[0097]

[0098] The conversion method of the rotor forward voltage converter 21 is the same as the above formula, and only the corresponding parameters need to be changed.

[0099] The rotor pulse width modulators 23, 24 generate D and E phase PWM signals including the following process:

[0100] ① u * α1_r , u * β1_r The relationship between the two-phase voltage and the control signals of the first, third and fifth MOS field effect transistors is:

[0101]

[0102] Among them, Q1, Q3, and Q5 are control signals of the first, third, and fifth MOS field effect transistors respectively.

[0103] u * α2_r , u * β2_r The relationship with the two-phase voltage and the relationship with the control signals of the seventh, ninth and eleventh MOS field effect transistors are the same as the above formula, and only the corresponding parameters need to be changed.

[0104] ② According to ①, the D+ phase AC voltage duty cycle signal can be obtained T D+ , Winding midpoint duty cycle signal T N1 , E+ phase AC voltage duty cycle signal T E+ , D-phase AC voltage duty cycle signal TD- , Winding midpoint duty cycle signal T N2 , E-phase AC voltage duty cycle signal T E- . For rotor 0 axis voltage u * 0_r A DC voltage duty cycle signal is outputted through the rotor 0 axis voltage calculator 20 T 0= u * 0_r / U dc .

[0105] ③ Finally, the D+ phase AC voltage duty cycle signal is obtained T D+ : T D+ = T D+ + T 0; Winding midpoint duty cycle signal T N1 : T N1 = T N1 + T 0; E+ phase AC voltage duty cycle signal T E+ : T E+ = T E+ + T 0; D-phase AC voltage duty cycle signal T D- : T D- = T D- - T 0; Winding midpoint duty cycle signal T N2 : T N2 = T N1 - T 0; E-phase AC voltage duty cycle signal T E- : T E- = T E- - T 0;

[0106] The rotor current converter 26 converts the motor rotor position signal i as well as i D+, i E+ , i D- 、i E-- Perform the stationary-rotating coordinate transformation as follows to obtain the rotor d1 axis current feedback value i d1_r , stator q1 axis current feedback value i q1_r , rotor d2 axis current feedback value i d2_r , stator q2 axis current feedback value i q2_r , rotor zero axis current feedback value i 0_r .

[0107]

[0108] The present invention can realize an optimized control strategy for a double-armature winding multiple electromagnetic torque single-stator single-rotor reluctance motor.

[0109] The formula for the rotor side torque is: ,in L r1 is the equivalent inductance of the motor rotor axis 0, i 0 is the zero axis current of the motor rotor, i r q is the motor rotor q-axis current, defined , where I r rms is the effective value of the rotor current; I r dc is the DC component; I r am is the effective value of the AC component. The rotor side torque component can be rewritten as , the above formula is k Taking partial derivative, we can get k =The output torque is maximum.

[0110] The formula for the stator side torque is: ,in P as is the number of stator pole pairs; L s d is the stator equivalent d-axis inductance; L s q is the stator equivalent q-axis inductance; L f is the rotor equivalent magnetizing inductance;i 0 excitation current. Set i s is the effective value of the stator current, and the stator d-axis and q-axis currents can be expressed as i s q = i s sinσ, i s d =iscosσ, σ is the angle between the effective value of the stator current and the d-axis current. Substituting the above formula into the stator side torque formula, we can get:

[0111]

[0112] Taking the partial derivative of the torque with respect to σ, when the maximum torque current output is achieved, the angle is:

[0113]

[0114] The present invention adopts two sets of drive control devices to perform double closed-loop control for a double-armature winding multiple electromagnetic torque single-stator single-rotor reluctance motor, and can still ensure a certain torque output capacity when a motor rotor, stator or a single set of drive devices fails.

[0115] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0116] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

[0117] It should be understood that the above description is for illustration and not for limitation. Many embodiments and many applications beyond the examples provided will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of the present teachings should not be determined with reference to the above description, but rather with reference to the foregoing claims and the full scope of equivalents to which such claims are entitled. For the purpose of comprehensiveness, all articles and references, including disclosures of patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the foregoing claims is not intended to be a waiver of such subject matter, nor should it be considered that the applicant has not considered such subject matter to be part of the disclosed inventive subject matter.

Claims

1. A dual armature winding multiple electromagnetic torque single stator single rotor reluctance motor controller, characterized in that: include: A first subtractor, a speed regulator, a current distributor, a stator-side armature winding control unit, a rotor-side armature winding control unit, a motor axial encoder and a speed calculator; The first subtractor obtains the motor speed set value and the motor speed feedback value, and sends the difference to the speed regulator, the speed regulator outputs the current set value and passes it into the current distributor, the current distributor outputs the current set value to the stator side armature winding control unit and the rotor side armature winding control unit, the stator side armature winding control unit and the rotor side armature winding control unit respectively perform double closed-loop control on the armature windings on both sides of the stator and rotor; The motor axial encoder detects and obtains the rotor position signal, and obtains the motor speed feedback value through the speed calculator; The rotor side armature winding control unit includes a fourth subtractor, a fifth subtractor, a sixth subtractor, a seventh subtractor, an eighth subtractor, a rotor d1 axis current regulator, a rotor q1 axis current regulator, a rotor 0 axis current regulator, a rotor d2 axis current regulator, a rotor q2 axis current regulator, a rotor dq1 voltage converter, a rotor 0 axis voltage calculator, a rotor dq2 voltage converter, a rotor positive pulse width modulator, a rotor negative pulse width modulator, and a rotor converter; The rotor d1, q1, 0, d2 and q2 axis current given values ​​output by the current distributor are respectively sent to a subtractor with the corresponding rotor d1, q1, 0, d2 and q2 axis current feedback values, and the subtractor outputs a current difference which is sent to a rotor current regulator. The rotor current regulator outputs a rotor voltage given value, and the rotor voltage given value is adjusted so that the subtractor output current difference is always zero; The rotor d1, q1 axis voltage given values ​​and the rotor position signal are input into the rotor dq1 voltage converter, and the rotor dq1 voltage converter performs a park inverse transformation on the voltage to output the rotor α axis voltage given value and the rotor β axis voltage given value. ， And input the rotor forward pulse width modulator, perform space vector pulse width modulation to generate rotor D and E phase forward bias PWM signals respectively, and input them into the rotor converter; The rotor d2 and q2 axis voltage given values ​​and the rotor position signal are input into the rotor dq2 voltage converter, and the rotor dq2 voltage converter performs a park inverse transformation on the voltage to output the rotor α2 axis voltage given value and the rotor β2 axis voltage given value. ， And input the rotor negative pulse width modulator, perform space vector pulse width modulation to generate rotor D and E phase negative bias PWM signals respectively, and input them into the rotor converter; The rotor 0-axis voltage outputs a DC voltage duty cycle signal through a rotor 0-axis voltage calculator; The output voltage of the rotor converter acts on the two-phase winding of the reluctance motor rotor, controls the current of the D and E phases of the rotor winding, and generates a sinusoidal current signal corresponding to the positive and negative bias of the input PWM signal; The stator side armature winding control unit includes a second subtractor, a third subtractor, a stator d-axis current regulator, a stator q-axis current regulator, a stator voltage converter, a stator pulse width modulator and a stator converter; The stator d and q axis current given values ​​output by the current distributor and the corresponding stator d and q axis current feedback values ​​are respectively sent to a subtractor, and the current difference processed by the subtractor is sent to a stator current regulator, and the stator current regulator outputs the stator d and q axis voltage given values, and the d and q axis current difference is always zero by adjusting the stator d and q axis voltage given values; The stator d-axis voltage set value, the stator q-axis voltage set value, and the rotor position signal are input into the stator voltage converter, and the stator voltage converter performs park inverse transformation on the voltage to output the stator α-axis voltage set value and the stator β-axis voltage set value, and inputs them into the stator pulse width modulator to perform space vector pulse width modulation to generate stator A, B, C phase PWM signals respectively and input them into the stator converter; The output voltage of the stator converter acts on the three-phase stator winding of the reluctance motor, controls the current of phases A, B, and C of the stator winding, and generates a sinusoidal current signal corresponding to the input PWM signal.

2. The reluctance motor controller according to claim 1, characterized in that: The stator converter includes a DC power supply U dc , 6 MOS field effect tubes and 6 freewheeling diodes are connected to form a three-phase half-bridge inverter circuit; wherein each MOS field effect tube and a freewheeling diode constitute a submodule, the drain of the MOS field effect tube is connected to the negative electrode of the freewheeling diode, and the source of the MOS field effect tube is connected to the positive electrode of the freewheeling diode; the drain of the first MOS field effect tube S1, the third MOS field effect tube S3, and the fifth MOS field effect tube S5 are connected to the DC power supply U dc The positive electrode of the first MOS field effect transistor S1, the third MOS field effect transistor S3, and the fifth MOS field effect transistor S5 are connected to the A, B, and C phase windings of the motor stator respectively. At the same time, the source levels of the first MOS field effect transistor S1, the third MOS field effect transistor S3, and the fifth MOS field effect transistor S5 are connected to the drains of the second MOS field effect transistor S2, the fourth MOS field effect transistor S4, and the sixth MOS field effect transistor S6 respectively; the source levels of the second MOS field effect transistor S2, the fourth MOS field effect transistor S4, and the sixth MOS field effect transistor S6 are connected to the negative electrode of the DC power supply; the A-phase PWM signal is used as the control signal of the gate of the first MOS field effect transistor S1 and the second MOS field effect transistor S2 of the converter, the B-phase PWM signal is used as the control signal of the gate of the third MOS field effect transistor S3 and the fourth MOS field effect transistor S4, and the C-phase PWM signal is used as the control signal of the gate of the fifth MOS field effect transistor S5 and the sixth MOS field effect transistor S6.

3. The reluctance motor controller according to claim 1, characterized in that: It also includes a stator current converter and a stator Hall current sensor; the stator Hall current sensor measures A, B, and C phase current signals respectively, and the motor rotor position signal detected by the motor axial encoder and the three-phase current signal are input into the stator current converter. The current converter performs Clark and Park coordinate transformation to obtain stator d and q axis DC current signals, which are used as stator d axis current feedback value and stator q axis current feedback value respectively.

4. The reluctance motor controller according to claim 1, characterized in that: The stator pulse width modulator generates ABC phase PWM signals including: ① The stator pulse width modulator is u * α_s , u * β_s Perform Clark inverse transformation to obtain the voltage given value of the three-phase stationary coordinate system u * A , u * B , u * C : in, u * A is the given value of the A-phase AC voltage in the stationary coordinate system, u * B is the given value of the B-phase AC voltage in the stationary coordinate system, u * C is the given value of the C-phase AC voltage in the stationary coordinate system; ② Modulation generates the duty cycle of the A-phase AC voltage T A = u * A / U dc , B phase AC voltage duty cycle T B = u * B / U dc , C phase AC voltage duty cycle T C = u * C / U dc ;in, U dc is the DC bus power supply voltage of the stator converter; Stator current converter to motor rotor position signal θ And three-phase current i A , i B , i C Perform the stationary-rotating coordinate transformation as follows to obtain the stator d-axis current feedback value. i d_s , stator q-axis current feedback value i q_s : 。 5. The reluctance motor controller according to claim 1, characterized in that: The rotor converter comprises a DC power supply, 12 MOS field effect tubes and 12 freewheeling diodes connected to form a dual three-phase half-bridge inverter circuit; wherein each MOS field effect tube is respectively connected with a freewheeling diode to form a submodule, the drain of the MOS field effect tube is connected to the negative electrode of the freewheeling diode, and the source of the MOS field effect tube is connected to the positive electrode of the freewheeling diode; the first MOS field effect tube M1, the third MOS field effect tube M3, the fifth MOS field effect tube M5, the seventh MOS field effect tube M7, the ninth MOS field effect tube M9, the eleventh MOS field effect tube M 11 The drain of the MOS field effect transistor M1 is connected to the positive electrode of the DC power supply, the first MOS field effect transistor M1, the third MOS field effect transistor M3, the fifth MOS field effect transistor M5, the seventh MOS field effect transistor M7, the ninth MOS field effect transistor M9, the eleventh MOS field effect transistor M 11 The source level is connected to the second MOS field effect transistor M2, the fourth MOS field effect transistor M4, the sixth MOS field effect transistor M6, the eighth MOS field effect transistor M8, the tenth MOS field effect transistor M 10 , 12th MOS field effect tube M 12 The drain of the second MOS field effect transistor M2, the fourth MOS field effect transistor M4, the sixth MOS field effect transistor M6, the eighth MOS field effect transistor M8, the tenth MOS field effect transistor M 10 , 12th MOS field effect tube M 12 The source of the first MOS field effect transistor M1 and the fifth MOS field effect transistor M5 are connected to the positive input terminal of the rotor D and E windings, respectively, and the source of the seventh MOS field effect transistor M7 and the eleventh MOS field effect transistor M 11 The source of the third MOS field effect transistor M3 and the ninth MOS field effect transistor M9 are respectively connected to the midpoints N1 and N2 of the rotor D and E windings; the forward bias PWM signals of the D and E phases are respectively the control signals of the first MOS field effect transistor M1, the third MOS field effect transistor M3, the fifth MOS field effect transistor M5, the second MOS field effect transistor M2, the fourth MOS field effect transistor M4 and the sixth MOS field effect transistor M6; the negative bias PWM signals of the D and E phases are respectively the control signals of the seventh MOS field effect transistor M7, the ninth MOS field effect transistor M9 and the eleventh MOS field effect transistor M 11 , the eighth MOS field effect transistor M8, the tenth MOS field effect transistor M 10 , 12th MOS field effect tube M 12 control signal.

6. The reluctance motor controller according to claim 5, characterized in that: It also includes a rotor Hall current sensor and a rotor current converter; the rotor Hall current sensor measures the D and E phase current signals respectively, the motor rotor position signal detected by the motor axial encoder and the D and E phase current signals are input into the rotor current converter, and the current converter performs a stationary-rotating coordinate transformation to obtain the rotor d1, q1, d2, q2 axis DC current signals, which are used as the rotor d1 axis current feedback value and the rotor q1 axis current feedback value respectively. 、 Rotor d2-axis current feedback value, rotor q2-axis current feedback value.

7. The reluctance motor controller according to claim 5, characterized in that: The positive and negative pulse width modulators of the rotor generate D and E phase PWM signals including: ① u * α1_r , u * β1_r The relationship between the two-phase voltage and the control signals of the first, third and fifth MOS field effect transistors is: Among them, Q1, Q3, and Q5 are control signals of the first, third, and fifth MOS field effect transistors respectively; u * α2_r , u * β2_r The relationship between the two-phase voltage and the control signals of the seventh, ninth and eleventh MOS field effect transistors is the same as the above formula, and only the corresponding parameters need to be changed; U dc is the DC bus power supply voltage of the stator converter; ②According to ①, obtain the D+ phase AC voltage duty cycle signal T D+ , Winding midpoint duty cycle signal T N1 , E+ phase AC voltage duty cycle signal T E+ , D-phase AC voltage duty cycle signal T D- , Winding midpoint duty cycle signal T N2 , E-phase AC voltage duty cycle signal T E- ; For rotor 0 axis voltage u * 0_r The rotor 0 axis voltage calculator outputs a DC voltage duty cycle signal T 0= u * 0_r / U dc ; ③ Finally, the D+ phase AC voltage duty cycle signal is obtained T D+ : T D+ = T D+ + T 0; Winding midpoint duty cycle signal T N1 : T N1 = T N1 + T 0; E+ phase AC voltage duty cycle signal T E+ : T E+ = T E+ + T 0; D-phase AC voltage duty cycle signal T D- : T D- = T D- - T 0; Winding midpoint duty cycle signal T N2 : T N2 = T N1 - T 0; E-phase AC voltage duty cycle signal T E- : T E- = T E- - T 0; Rotor current converter to motor rotor position signal θ And D, E phase current signal i D+ , i E+ , i D- 、i E-- Perform stationary-rotating coordinate transformation to obtain the rotor d1 axis current feedback value i d1_r , rotor q1 axis current feedback value i q1_r , rotor d2 axis current feedback value i d2_r , rotor q2 axis current feedback value i q2_r , rotor zero axis current feedback value i 0_r .

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