Method and system for controlling a dual three-phase permanent magnet synchronous motor

Abstract

The application provides a dual three-phase permanent magnet synchronous motor control method and system, and belongs to the technical field of motor control. The neutral points of the dual three-phase permanent magnet synchronous motor are isolated from each other. In a healthy mode, six-phase currents in two sets of three-phase windings are decoupled into two d-q coordinate systems to obtain two sets of orthogonal currents. The given value and the feedback value of the two sets of orthogonal currents are subtracted to perform current closed-loop regulation. The maximum value and the minimum value of the corresponding voltage are extracted, and a zero sequence component voltage is calculated. Two zero sequence voltage components are added to obtain a modulation signal. The modulation signal is compared with a carrier signal to obtain a driving signal. The application can realize intelligent switching and dynamic load regulation of the dual three-phase permanent magnet motor in two fault-tolerant modes, meets torque performance in different occasions, improves the reliability of system operation, has the advantages of simple operation and easy implementation, and can be widely applied to high-reliability electrical drive occasions.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, specifically to a control method and system for a dual three-phase permanent magnet synchronous motor. Background Technology

[0002] Dual three-phase permanent magnet motors are widely used in high-reliability applications such as industrial manufacturing, transportation, and aerospace due to their fault-tolerant operation capabilities. When a fault occurs, the controller disconnects the corresponding faulty phase, putting the motor into fault-tolerant mode. If the motor still maintains a high output torque at this time, the temperature of the stator windings of the remaining phases will rise significantly, potentially causing thermal damage to the winding insulation or even burning out the motor. Summary of the Invention

[0003] The purpose of this invention is to provide a control method and system for a dual three-phase permanent magnet synchronous motor, so as to solve at least one of the technical problems existing in the background art.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] On one hand, the present invention provides a control method for a dual three-phase permanent magnet synchronous motor, comprising:

[0006] The neutral points of the dual three-phase permanent magnet synchronous motors are isolated from each other, and in health mode, the six-phase current i in the two sets of three-phase windings is... A i B i C i U i V i W Decoupled to two dq coordinate systems, two sets of orthogonal currents i are obtained. d1 and i q1 i d2 and i q2 The difference between the given and feedback values ​​of the two sets of orthogonal currents is calculated, and the six-phase voltage U is obtained by performing current closed-loop regulation. A U B U C U U U V U W Extract U respectively A U B U C and U U U V U W The maximum and minimum values ​​are calculated, and the zero-sequence voltage component is determined. The two zero-sequence voltage components U are then combined. in1 and U in2 with U A U B U Cand U U U V U W The modulated signal is obtained by adding the two signals together, and the modulated signal is compared with the carrier signal to obtain the driving signal.

[0007] Optional, six-phase current i A i B i C i U i V i W Decoupling is performed using equations (1) and (2) respectively:

[0008]

[0009]

[0010] In the formula, θ e Let θ be the electrical angle of the rotor. r =θ e -30°;

[0011] The zero-sequence component voltage is calculated using equations (3) and (4):

[0012] U in1 =-0.5(U max1 +U min1 (3)

[0013] U in2 =-0.5(U max2 +U min2 (4)

[0014] In the formula, U max1 =max{U A U B U C},U min1 =min{U A U B U C},

[0015] U max2 =max{U U U V U w},V min2 =min{U U U V U w}

[0016] Optionally, when a phase winding of a dual three-phase permanent magnet synchronous motor fails, the faulty phase winding is disconnected, and the motor is operated in the fault-tolerant mode with the maximum output torque by injecting two-dimensional harmonic current.

[0017] Optionally, in fault-tolerant operation, to prevent excessively high winding end temperatures and to achieve intelligent control and mode switching, real-time online temperature monitoring is required, specifically including the following steps:

[0018] The measuring pins of the temperature sensor are wrapped with a polyimide film, then a layer of high-temperature resistant silicone rubber is applied to the sides, and finally it is embedded in the end of each phase winding.

[0019] The temperature of the stator windings can be obtained from the data from the temperature sensor;

[0020] The analog temperature values ​​mentioned above are converted into digital values ​​using a digital signal processor to form a real-time temperature detection system.

[0021] Optionally, if the temperature of the stator winding exceeds a set threshold, the fault-tolerant mode with the highest output torque from the two-dimensional harmonic current injection is switched to the fault-tolerant mode with the lowest winding loss from the one-dimensional harmonic current injection; the fault-tolerant method of the one-dimensional harmonic current injection is to reduce the winding loss of the i... x =-i α i y =-i β Change to i x =-i α i y =0, at this time only i is injected x Harmonic current.

[0022] Optionally, if the end winding temperature detected in the fault-tolerant mode with the minimum winding loss is still greater than the set threshold temperature, the load torque of the motor is dynamically adjusted until the detected temperature is lower than the threshold temperature.

[0023] In a second aspect, the present invention provides a control system for a dual three-phase permanent magnet synchronous motor, comprising a controller configured to:

[0024] In health mode, the six-phase current i in the two sets of three-phase windings is... A i B i C i U i V i W Decoupled to two dq coordinate systems, two sets of orthogonal currents i are obtained. d1 and i q1 i d2 and i q2 The six-phase voltage U is obtained by subtracting the setpoint and feedback values ​​of the two sets of orthogonal currents and performing closed-loop current regulation. A U B U C U U U V UW Extract the six-phase voltage U respectively A U B U C and U U U V U W The maximum and minimum values ​​are calculated, and the zero-sequence voltage component is determined. The two zero-sequence voltage components U are then combined. in1 and U in2 with U A U B U C and U U U V U W The modulated signal is obtained by adding the two signals together, and the modulated signal is compared with the carrier signal to obtain the driving signal.

[0025] Thirdly, the present invention provides a computer device including a memory and a processor, wherein the processor and the memory communicate with each other, the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the dual three-phase permanent magnet synchronous motor control method as described above.

[0026] Fourthly, the present invention provides an electronic device including a memory and a processor, wherein the processor and the memory communicate with each other, the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the dual three-phase permanent magnet synchronous motor control method as described above.

[0027] Fifthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the dual three-phase permanent magnet synchronous motor control method described above.

[0028] The beneficial effects of this invention are: it enables intelligent switching and dynamic load adjustment of dual three-phase permanent magnet motors in two fault-tolerant modes, which not only meets the torque performance requirements of different occasions, but also improves the reliability of system operation. At the same time, it has the advantages of simple operation and easy implementation, and can be widely used in high-reliability electrical drive applications.

[0029] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of the invention. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a flowchart of a highly reliable intelligent control method for a dual three-phase permanent magnet synchronous motor according to an embodiment of the present invention.

[0032] Figure 2 This is a block diagram of the health mode control of the dual three-phase permanent magnet synchronous motor according to an embodiment of the present invention.

[0033] Figure 3 This is a control block diagram of the maximum torque fault-tolerant mode for two-dimensional harmonic current injection and the minimum winding loss fault-tolerant mode for one-dimensional harmonic current injection, as described in the embodiments of the present invention. Detailed Implementation

[0034] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0035] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0036] It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as here.

[0037] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, and / or groups thereof.

[0038] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0039] To facilitate understanding of the present invention, the present invention will be further explained and described below with reference to the accompanying drawings and specific embodiments. However, the specific embodiments do not constitute a limitation on the embodiments of the present invention.

[0040] Those skilled in the art should understand that the accompanying drawings are merely schematic diagrams of embodiments, and the components in the drawings are not necessarily essential for implementing the present invention.

[0041] Example 1

[0042] This embodiment 1 provides a dual three-phase permanent magnet synchronous motor control system, including a controller, which is configured as follows:

[0043] In health mode, the six-phase current i in the two sets of three-phase windings is... A i B i C i U i V i W Decoupled to two dq coordinate systems, two sets of orthogonal currents i are obtained. d1 and i q1 i d2 and i q2 The difference between the setpoint and feedback values ​​of the two sets of orthogonal currents is calculated, and U is obtained by using four PI controllers for closed-loop current regulation. A U B U C U U U V U W Extract U respectively A U B U C and U U U V U W The maximum and minimum values ​​are calculated, and the zero-sequence voltage component is determined. The two zero-sequence voltage components U are then combined. in1 and U in2 with U A U B U C and UU U V U W The modulated signal is obtained by adding the two signals together, and the modulated signal is compared with the carrier signal to obtain the driving signal.

[0044] In this embodiment 1, the above-described system can be used to implement a control method for a dual three-phase permanent magnet synchronous motor, including:

[0045] The neutral points of the dual three-phase permanent magnet synchronous motors are isolated from each other, and in health mode, the six-phase current i in the two sets of three-phase windings is... A i B i C i U i V i W Decoupled to two dq coordinate systems, two sets of orthogonal currents i are obtained. d1 and i q1 i d2 and i q2 The difference between the setpoint and feedback values ​​of the two sets of orthogonal currents is calculated, and the six-phase voltage U is obtained by using four PI controllers for closed-loop current regulation. A U B U C U U U V U W Extract U respectively A U B U C and U U U V U W The maximum and minimum values ​​are calculated, and the zero-sequence voltage component is determined. The two zero-sequence voltage components U are then combined. in1 and U in2 with U A U B U C and U U U V U W The modulated signal is obtained by adding the two signals together, and the modulated signal is compared with the carrier signal to obtain the driving signal.

[0046] Among them, the six-phase current i A i B i C i U i V i W Decoupling is performed using equations (1) and (2) respectively:

[0047]

[0048]

[0049] In the formula, θ e Let θ be the electrical angle of the rotor. r =θ e -30°;

[0050] The zero-sequence component voltage is calculated using equations (3) and (4):

[0051] U in1 =-0.5(U max1 +U min1 (3)

[0052] U in2 =-0.5(U max2 +U min2 (4)

[0053] In the formula, U max1 =max{U A U B U C},U min1 =min{U A U B U C},

[0054] U max2 =max{U U U V U w},V min2 =min{U U U V U w}

[0055] When a phase winding of a dual three-phase permanent magnet synchronous motor fails, the faulty phase winding is disconnected, and the motor is operated in the fault-tolerant mode with the maximum output torque by injecting two-dimensional harmonic current.

[0056] In fault-tolerant operation, to prevent excessively high winding end temperatures and to achieve intelligent control and mode switching, real-time online temperature monitoring is required, which includes the following steps:

[0057] The measuring pins of the temperature sensor are wrapped with a polyimide film, then a layer of high-temperature resistant silicone rubber is applied to the sides, and finally it is embedded in the end of each phase winding.

[0058] The temperature of the stator windings can be obtained from the data from the temperature sensor;

[0059] The analog temperature values ​​mentioned above are converted into digital values ​​using a digital signal processor to form a real-time temperature detection system.

[0060] If the temperature of the stator winding exceeds a set threshold, the fault-tolerant mode with the highest output torque from the two-dimensional harmonic current injection will be switched to the fault-tolerant mode with the lowest winding loss from the one-dimensional harmonic current injection. The fault-tolerant method of the one-dimensional harmonic current injection is to reduce the winding loss of the i-th winding. x =-i α i y =-i β Change to i x =-i α i y =0, at this time only i is injected x Harmonic current.

[0061] If the end winding temperature detected in the fault-tolerant mode with the lowest winding loss is still higher than the set threshold temperature, the load torque of the motor will be dynamically adjusted until the detected temperature is lower than the threshold temperature.

[0062] Example 2

[0063] In this embodiment 2, a highly reliable intelligent control method for a dual three-phase permanent magnet synchronous motor is provided. This method enables the motor to intelligently switch between two fault-tolerant modes based on the winding temperature: the maximum torque injected by two-dimensional harmonic current and the winding loss minimized by one-dimensional harmonic current injection. Furthermore, the method can dynamically adjust the operating conditions based on real-time temperature feedback. This not only meets the motor's requirements for various operating conditions but also greatly improves the reliability of the dual three-phase permanent magnet motor.

[0064] The neutral points of the dual three-phase permanent magnet synchronous motors are isolated from each other, and in health mode, the six-phase current i in the two sets of three-phase windings is... A i B i C i U i V i W By decoupling to two dq coordinate systems using equations (6) and (7) respectively, two sets of orthogonal currents i are obtained. d1 and i q1 i d2 and i q2 ,

[0065]

[0066]

[0067] In the formula, θ e Let θ be the electrical angle of the rotor. r =θ e -30°.

[0068] The difference between the setpoint and feedback values ​​of the two sets of orthogonal currents is calculated, and the six-phase voltage U is obtained by using four PI controllers for closed-loop current regulation. AU B U C U U U V U W Extract U respectively A U B U C and U U U V U W The maximum and minimum values.

[0069] The zero-sequence voltage component is calculated using equations (8) and (9), and the two zero-sequence voltage components U are then... in1 and U in2 with U A U B U C and U U U V U W The modulated signal is obtained by adding the two signals together, and the modulated signal is compared with the carrier signal to obtain the driving signal.

[0070] U in1 =-0.5(U max1 +U min1 (8)

[0071] U in2 =-0.5(U max2 +U min2 (9)

[0072] In the formula, U max1 =max{U A U B U C},U min1 =min{U A U B U C},

[0073] U max2 =max{U U U V U w},V min2 =min{U U U V U w}

[0074] If a phase winding of a dual three-phase permanent magnet synchronous motor fails, the faulty phase winding should be disconnected, and the motor should be operated in a fault-tolerant mode with maximum output torque through the injection of two-dimensional harmonic current. In this embodiment 2, taking a phase A fault as an example, the fault-tolerant method of two-dimensional harmonic current injection is as follows: the six-phase current i Ai B i C i U i V i W By decoupling the control variables into three orthogonal subplanes using equation (10), we obtain i d i q i x i y i o1 i o1 Among them, the variables in the dq plane are related to electromechanical energy conversion, the variables in the xy plane are not related to electromechanical energy conversion, and the variables in the o1-o2 plane are zero in the neutral point isolated structure.

[0075]

[0076] will i d and i q i is obtained through the inverse Park transform. α and i β Inject harmonic current i respectively x i y And let i x =-i α i y =-i β .

[0077] In fault-tolerant operation, to prevent excessively high winding end temperatures and to achieve intelligent control and mode switching, real-time online temperature monitoring is required, which includes the following steps:

[0078] Step 1) To ensure good insulation and temperature resistance, first wrap the measuring pins of the high-precision temperature sensor with a 0.4mm thick polyimide film, then coat the sides with a layer of high-temperature resistant silicone rubber, and finally embed it into the end of each phase winding.

[0079] Step 2) The temperature of the stator winding can be obtained using the data from the temperature sensor in Step 1).

[0080] Step 3) Convert the analog temperature value into a digital value using a digital signal processor to form a real-time temperature detection system.

[0081] To prevent the motor from burning out due to excessive winding temperature, the winding temperature needs to be monitored in real time.

[0082] If the winding temperature exceeds the set threshold (the winding temperature threshold is set to 0.85 times the highest temperature resistance of the insulation class), the fault-tolerant mode with the largest output torque from the two-dimensional harmonic current injection should be switched to the fault-tolerant mode with the smallest winding loss from the one-dimensional harmonic current injection.

[0083] The fault-tolerant method of one-dimensional harmonic current injection only requires i x =-i α i y =-i β Change to i x =-i α i y =0, at this time only i is injected x Harmonic current.

[0084] If the end winding temperature detected in the fault-tolerant mode with the lowest winding loss is still higher than the set threshold temperature, the motor load torque should be dynamically adjusted until the detected temperature is lower than the threshold temperature, so as to avoid thermal damage to the winding insulation and cause the motor to burn out.

[0085] In summary, in this embodiment 2, when the dual three-phase permanent magnet motor operates in fault-tolerant mode, if it still maintains a high output torque, the increase in the current of the remaining phase windings will lead to an increase in winding temperature, which may cause thermal damage to the winding insulation or even burn out the motor, thereby reducing the reliability of the dual three-phase permanent magnet motor operation. In this embodiment 2, the temperature at the winding end is used as a real-time feedback value, and the feedback value is compared with the temperature threshold in real time. This allows the motor to intelligently switch between two fault-tolerant modes: the maximum torque under two-dimensional harmonic current injection and the minimum winding loss under one-dimensional harmonic current injection. It can also dynamically adjust the operating conditions based on the real-time temperature detection value. This satisfies various operating conditions of the motor, greatly improves the reliability of motor operation, and is simple to operate and easy to implement in engineering, making it widely applicable to high-reliability electrical drive applications.

[0086] Example 3

[0087] like Figure 1 As shown in Embodiment 3, a highly reliable intelligent control method for a dual three-phase permanent magnet synchronous motor is provided, including the following processing steps:

[0088] Initially, the motor operates in healthy mode. Upon fault occurrence, a two-dimensional harmonic current injection method is used to bring the motor to its maximum torque output mode. If the temperature in maximum torque mode is detected to be too high, the two-dimensional harmonic current injection is switched to one-dimensional, at which point the motor operates in a mode with minimal winding losses, thereby reducing the temperature at the winding ends. If the temperature still exceeds the set threshold temperature, the motor's load torque is dynamically adjusted to derated the motor.

[0089] The control block diagram in health mode is as follows: Figure 2 As shown.

[0090] The six-phase current i in the two sets of three-phase windings A i B iC i U i V i W By decoupling to two dq coordinate systems using equations (1) and (2) respectively, two sets of orthogonal currents i are obtained. d1 and i q1 i d2 and i q2 The difference between the setpoint and feedback values ​​of the two sets of orthogonal currents is calculated, and U is obtained by using four PI controllers for closed-loop current regulation. A U B U C U U U V U W Extract U respectively A U B U C and U U U V U W The maximum and minimum values ​​are obtained, and the zero-sequence voltage component is calculated using equations (3) and (4). The two zero-sequence voltage components U in1 and U in2 with U A U B U C and U U U V U W The modulated signal is obtained by adding the two signals together, and the modulated signal is compared with the carrier signal to obtain the driving signal.

[0091] The control block diagrams for the maximum torque fault-tolerant mode of two-dimensional harmonic current injection and the minimum winding loss fault-tolerant mode of one-dimensional harmonic current injection are as follows: Figure 3 As shown.

[0092] The six-phase current i A i B i C i U i V i W By decoupling the control variables into three orthogonal subplanes using equation (5), we obtain i d i q i x i y i o1 i o1 In this context, the variables in the dq plane are related to electromechanical energy conversion, while the variables in the xy plane are not. In a neutral-point isolated structure, the variables in the o1-o2 plane are zero. (The last part, "i," appears to be a typo and can be left as is.) d and i q i is obtained through the inverse Park transform. αand i β Inject harmonic current i respectively x i y And let i x =-i α i y =-i β (corresponding to maximum output torque mode) or i x =-i α i y =0 (corresponds to the minimum winding loss mode).

[0093] Current closed-loop regulation is performed using four bidirectional PI controllers to obtain U. A U B U C U U U V U W Extract U respectively A U B U C and U U U V U W The maximum and minimum values ​​are obtained, and the zero-sequence voltage component is calculated using equations (3) and (4). The two zero-sequence voltage components U in1 and U in2 with U A U B U C and U U U A U W The modulated signal is obtained by adding the two signals together, and the modulated signal is compared with the carrier signal to obtain the driving signal.

[0094] If the end winding temperature detected in the fault-tolerant mode with the lowest winding loss is still higher than the set threshold temperature, the motor load torque should be dynamically adjusted until the detected temperature is lower than the threshold temperature, so as to avoid thermal damage to the winding insulation and cause the motor to burn out.

[0095] Example 4

[0096] Embodiment 4 of the present invention provides an electronic device, including a memory and a processor, wherein the processor and the memory communicate with each other, the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute a dual three-phase permanent magnet synchronous motor control method, the method including the following steps:

[0097] In health mode, the six-phase current i in the two sets of three-phase windings is... A i B i C i U iV i W Decoupled to two dq coordinate systems, two sets of orthogonal currents i are obtained. d1 and i q1 i d2 and i q2 The difference between the given and feedback values ​​of the two sets of orthogonal currents is calculated, and the six-phase voltage U is obtained by performing current closed-loop regulation. A U B U C U U U V U W Extract U respectively A U B U C and U U U V U W The maximum and minimum values ​​are calculated, and the zero-sequence voltage component is determined. The two zero-sequence voltage components U are then combined. in1 and U in2 with U A U B U C and U U U V U W The modulated signal is obtained by adding the two signals together, and the modulated signal is compared with the carrier signal to obtain the driving signal.

[0098] Example 5

[0099] Embodiment 5 of the present invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements a control method for a dual three-phase permanent magnet synchronous motor. The method includes the following steps:

[0100] In health mode, the six-phase current i in the two sets of three-phase windings is... A i B i C i U i V i W Decoupled to two dq coordinate systems, two sets of orthogonal currents i are obtained. d1 and i q1 i d2 and i q2 The difference between the given and feedback values ​​of the two sets of orthogonal currents is calculated, and the six-phase voltage U is obtained by performing current closed-loop regulation. A U B U C U U U V U W Extract U respectively A UB U C and U U U V U W The maximum and minimum values ​​are calculated, and the zero-sequence voltage component is determined. The two zero-sequence voltage components U are then combined. in1 and U in2 with U A U B U C and U U U V U W The modulated signal is obtained by adding the two signals together, and the modulated signal is compared with the carrier signal to obtain the driving signal.

[0101] Example 6

[0102] Embodiment 6 of the present invention provides a computer device, including a memory and a processor, wherein the processor and the memory communicate with each other, the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute a dual three-phase permanent magnet synchronous motor control method, the method comprising the following steps:

[0103] In health mode, the six-phase current i in the two sets of three-phase windings is... A i B i C i U i V i W Decoupled to two dq coordinate systems, two sets of orthogonal currents i are obtained. d1 and i q1 i d2 and i q2 The difference between the given and feedback values ​​of the two sets of orthogonal currents is calculated, and the six-phase voltage U is obtained by performing current closed-loop regulation. A U B U C U U U V U W Extract U respectively A U B U C and U U U V U W The maximum and minimum values ​​are calculated, and the zero-sequence voltage component is determined. The two zero-sequence voltage components U are then combined. in1 and U in2 with U A U B U C and U U U V U WThe modulated signal is obtained by adding the two signals together, and the modulated signal is compared with the carrier signal to obtain the driving signal.

[0104] In summary, the highly reliable intelligent control method for dual three-phase permanent magnet motors described in this invention allows the dual three-phase motor to be controlled independently as two separate three-phase motors in healthy mode. When a fault occurs, the motor operates in maximum torque mode via two-dimensional harmonic current injection. High-precision temperature sensors are embedded at the winding ends of the motor, and the temperature signal is uploaded to a digital signal processor via an analog-to-digital converter. If the temperature is detected to be too high in the maximum torque mode, the two-dimensional harmonic current injection is switched to one-dimensional, at which point the motor operates in the mode with minimum winding losses, thereby reducing the temperature at the winding ends. If the temperature still exceeds the set threshold temperature, the motor's load torque is dynamically adjusted, causing the motor to operate at a reduced rating. This method enables intelligent switching and dynamic load adjustment of the dual three-phase permanent magnet motor between two fault-tolerant modes, satisfying torque performance requirements in different situations and improving system reliability. It also has the advantages of simple operation and ease of implementation, making it widely applicable in high-reliability electrical drive applications.

[0105] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0106] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0107] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0108] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment, whereby a series of operational steps are performed to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the functions specified in one or more boxes. Although the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that, based on the technical solutions disclosed in the present invention, various modifications or variations that can be made by those skilled in the art without creative effort should be included within the scope of protection of the present invention.

Claims

1. A control method for a dual three-phase permanent magnet synchronous motor, characterized in that, include: The neutral points of the dual three-phase permanent magnet synchronous motors are isolated from each other, and in health mode, the six-phase currents in the two sets of three-phase windings are... , , , , , Decoupled to two dq coordinate systems, resulting in two sets of orthogonal currents. and , and The difference between the setpoint and feedback values ​​of the two sets of orthogonal currents is calculated, and the current closed-loop regulation is performed to obtain the six-phase voltage. , , , , , Extract respectively , , and , , The maximum and minimum values ​​are calculated, and the zero-sequence voltage component is determined. The two zero-sequence voltage components are then... and and , , and , , The modulation signal is obtained by summing the signals, and the modulation signal is compared with the carrier signal to obtain the drive signal. When a phase winding of the dual three-phase permanent magnet synchronous motor fails, the faulty phase winding is disconnected, and the motor operates in the fault-tolerant mode with the maximum output torque through the injection of two-dimensional harmonic current. During fault-tolerant operation, to avoid excessively high winding end temperatures and to achieve intelligent control and mode switching, real-time online temperature detection is required. This includes the following steps: wrapping the measuring pins of the temperature sensor with a polyimide film, then coating its sides with a layer of high-temperature resistant silicone rubber, and finally embedding it into the end of each phase winding. The temperature of the stator winding can be obtained from the temperature sensor data. The analog temperature is converted into a digital value by a digital signal processor, forming a real-time temperature detection system. If the temperature of the stator winding exceeds a set threshold, the fault-tolerant mode with the maximum output torque through two-dimensional harmonic current injection is switched to the fault-tolerant mode with the minimum winding loss through one-dimensional harmonic current injection. The fault-tolerant method of one-dimensional harmonic current injection is to... , Change to , At this time, only injection Harmonic current; if the end winding temperature detected in the fault-tolerant mode with the minimum winding loss is still greater than the set threshold temperature, the load torque of the motor will be dynamically adjusted until the detected temperature is lower than the threshold temperature.

2. The control method for a dual three-phase permanent magnet synchronous motor according to claim 1, characterized in that, Six-phase current , , , , , Decoupling is performed using equations (1) and (2) respectively: ； ； In the formula, The electrical angle of the rotor, ; The zero-sequence component voltage is calculated using equations (3) and (4): ； ； In the formula, , , , 。 3. A dual three-phase permanent magnet synchronous motor control system based on the method described in claim 1 or 2, characterized in that, Includes a controller, which is configured to: In health mode, the six-phase current in the two sets of three-phase windings is... , , , , , Decoupled to two dq coordinate systems, resulting in two sets of orthogonal currents. and , and The six-phase voltage is obtained by subtracting the setpoint and feedback values ​​of the two sets of orthogonal currents and performing closed-loop current regulation. , , , , , Extract respectively , , and , , The maximum and minimum values ​​are calculated, and the zero-sequence voltage component is determined. The two zero-sequence voltage components are then... and and , , and , , The modulated signal is obtained by adding the two signals together, and the modulated signal is compared with the carrier signal to obtain the driving signal.

4. A computer device, comprising a memory and a processor, wherein the processor and the memory communicate with each other, the memory storing program instructions executable by the processor, and the processor calling the program instructions to execute the dual three-phase permanent magnet synchronous motor control method as described in claim 1 or 2.

5. An electronic device, characterized in that, The system includes a memory and a processor, which communicate with each other. The memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the dual three-phase permanent magnet synchronous motor control method as described in claim 1 or 2.

6. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the dual three-phase permanent magnet synchronous motor control method as described in claim 1 or 2.

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