Fault-tolerant operation device of six-phase permanent magnet synchronous motor

Abstract

The fault-tolerant operation device of the six-phase permanent magnet synchronous motor of the present invention includes: a six-phase permanent magnet synchronous motor, including a first coil group and a second coil group with an asymmetrical structure; a first inverter; a second inverter; a DQ converter, which performs DQ conversion on the phase currents detected from the above-mentioned first coil group, the phase currents detected from the above-mentioned second coil group and the rotation angle of the above-mentioned six-phase permanent magnet synchronous motor to convert them into currents of the D1-Q1 axis coordinate system and the D2-Q2 axis coordinate system; a torque current control unit, which generates a D1-Q1 axis current command according to the torque command, receives feedback of the current of the above-mentioned D1-Q1 axis coordinate system to control the operation of the above-mentioned first inverter and the above-mentioned second inverter; and a load distribution ratio control unit, which controls the distribution ratio of the above-mentioned first inverter and the above-mentioned second inverter according to the D2-Q2 axis current command.

Description

Technical Field

[0001] The present invention relates to a fault-tolerant operation device for a six-phase permanent magnet synchronous motor. A six-phase permanent magnet synchronous motor with two asymmetrically configured three-phase coils is modeled as a single motor. Decoupled vector space decomposition control (DVSC) is performed to eliminate the mutual interference components of the two three-phase coils. Control is performed by adjusting the inverter load distribution ratio based on inverter fault diagnosis results. Fault-tolerant operation can be performed without the need for additional hardware components. Background Art

[0002] Electric vehicles are typically pulled by motors. Typically, three-phase motors are used, but to increase the motor's pulling power, six-phase motors, which combine two three-phase coils, or multi-phase motors with six or more phases are being studied.

[0003] Korean Patent Publication No. 10-2017-0037974, "Multi-Phase Motor, Driver, and Control," proposes a multi-phase synchronous motor with component phases connected to separate inverter power circuits. This prior art document provides an inverter to control each three-phase motor, and provides fault-tolerant operation by controlling another motor to generate compensatory torque if a motor fails.

[0004] However, the above-mentioned prior art proposes a solution to generate mutual compensatory torque between star-configured and delta-configured motors. Specifically, when a fault occurs in one of the three-phase motors, an electromagnetic contactor is switched to switch the wiring of the other (or two) three-phase motors from star to delta. However, this switching method suffers from poor control stability. Specifically, during the process of generating the compensatory torque, the motor output can vary significantly. Furthermore, the above-mentioned prior art is limited to induction motors and is not suitable for controlling synchronous motors.

[0005] Furthermore, permanent magnet synchronous motors (PMSMs) are highly efficient motors. Compared to induction motors, permanent magnets create magnetic flux, eliminating the need for excitation current. Since current does not flow through the rotor, secondary copper losses are eliminated, leading to their widespread use in recent electric vehicles. Furthermore, combining two three-phase PMSMs for six-phase drive offers the advantages of reducing the current per phase, enabling compact semiconductor devices used to control the motor, and achieving high torque performance with low current.

[0006] Figure 1 This figure illustrates the coil structure of a typical symmetrical six-phase motor. Figure 2 The figure below illustrates the coil structure of a typical asymmetric six-phase motor. Figure 1In the symmetrical type where each phase of the motor has a uniform phase difference of 60 degrees, it has the advantage of being easy to control, but it has the problem of generating torque pulsation with 6th harmonic pulsation. To prevent the above situation from happening, Figure 2 If the design is an asymmetric six-phase motor coil structure, it has the advantage of offsetting the torque ripple caused by the 6th harmonic.

[0007] However, when a six-phase motor is modeled as two three-phase motors and controlled independently, mutual interference components are likely to occur between the multiple coils of the two motors. To address this issue, the two motors are modeled as a single motor. This can cause torque components to be applied to one coil, making it difficult to quickly switch to fault-tolerant operation if a fault occurs in any of the three-phase coils.

[0008] (Prior art literature)

[0009] (Patent Document)

[0010] Patent Document 1: Korean Patent Publication No. 10-2017-0037974 Summary of the Invention

[0011] (Problems to be solved by the invention)

[0012] The object of the present invention is to provide a novel fault-tolerant operation device for a six-phase permanent magnet synchronous motor as follows: a six-phase permanent magnet synchronous motor having two asymmetrically configured three-phase coils is modeled as one motor, and decoupled vector space decomposition control is performed, but the D1-Q1 axis control for torque-current control and the D2-Q2 axis control for adjusting the load distribution ratio are executed separately, thereby suppressing mutual interference between the two three-phase coil groups and allowing continuous operation of the motor when a fault occurs in any inverter.

[0013] (Measures taken to resolve the problem)

[0014] A fault-tolerant operation device for a six-phase permanent magnet synchronous motor according to an embodiment of the present invention comprises: a six-phase permanent magnet synchronous motor, comprising a first coil group consisting of three-phase coils of phases a, b, and c, and a second coil group consisting of three-phase coils of phases x, y, and z, wherein the first coil group and the second coil group are asymmetrically configured; a first inverter for controlling the operation of the first coil group; a second inverter for controlling the operation of the second coil group; a DQ converter for detecting each phase current i detected by the first coil group; a 、i b 、i c , the phase current i detected from the second coil group x 、i y 、i z and the rotation angle θ of the above six-phase permanent magnet synchronous motor rPerform DQ conversion to convert the current i into the D1-Q1 axis coordinate system D1 、i Q1 and the current i in the D2-Q2 axis coordinate system D2 、i Q2 ; Torque current control unit, according to the torque command T e * Generate D1-Q1 axis current instruction i D1 * 、i Q1 * , receiving the current i in the D1-Q1 axis coordinate system D1 、i Q1 Feedback to control the operation of the first inverter and the second inverter; and a load distribution ratio control unit, according to the D2-Q2 axis current instruction i D2 * 、i Q2 * Control the distribution ratio of the first inverter and the second inverter, the D2-Q2 axis current instruction i D2 * 、i Q2 * The fault diagnosis result of the first inverter and the second inverter is generated.

[0015] (Effects of the Invention)

[0016] The fault-tolerant operation device of the six-phase permanent magnet synchronous motor according to the present invention has the following effects: the six-phase permanent magnet synchronous motor with two asymmetrically configured three-phase coils is modeled as one motor, and decoupling vector space decomposition control is performed to separate the D1-Q1 axis control for torque-current control and the D2-Q2 axis control for adjusting the load distribution ratio. The mutual interference between the two three-phase coil groups can be suppressed by the D1-Q1 axis control, and the load distribution ratio can be adjusted by the D2-Q2 axis control. When a fault occurs in any inverter, the remaining inverter can be quickly switched to operate at a distribution ratio of 100% without the need for additional conversion components. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This figure illustrates the coil structure of a typical symmetrical six-phase motor.

[0018] Figure 2 This figure illustrates a coil structure of a typical asymmetric six-phase motor.

[0019] Figure 3 1 is a block diagram illustrating a fault-tolerant operation device for a six-phase permanent magnet synchronous motor according to the present invention.

[0020] Figure 4This is a diagram schematically showing torque-current control performed by D1-Q1 axis control in the present invention.

[0021] Figure 5 This is a diagram schematically showing the load distribution ratio control performed by the D2-Q2 axis control in the present invention.

[0022] Figure 6 This is a diagram showing an example in which the load distribution ratio of the first inverter is controlled to 100% in the present invention.

[0023] Figure 7 This is a diagram showing an example in which the load distribution ratio of the second inverter is controlled to 100% in the present invention.

[0024] Figure 8 The waveform diagram is a process of measuring the first inverter operation switching to a load sharing ratio of 100% when the second inverter fails in the present invention.

[0025] (Explanation of Reference Numerals)

[0026] 100: Torque current control unit 110: Torque command unit

[0027] 120: First subtractor 130: Second subtractor

[0028] 140: First current control unit 150: Second current control unit

[0029] 200: Load distribution ratio control unit 210: Fault diagnosis operation control unit

[0030] 220: First inverter load distribution ratio adjustment unit

[0031] 230: Second inverter load distribution ratio adjustment unit

[0032] 240: third subtractor 250: fourth subtractor

[0033] 260: Third current control unit 270: Fourth current control unit

[0034] 310: Decoupling vector space decomposition unit 320: DQ inverse converter

[0035] 330: First pulse width modulation signal output unit

[0036] 340: Second pulse width modulation signal output unit

[0037] 350: First inverter 360: Second inverter

[0038] 370: DQ Converter DETAILED DESCRIPTION

[0039] Additional objects, features and advantages of the present invention will become more clearly understood with reference to the following description and accompanying drawings.

[0040] Before describing the present invention in detail, the present invention may be subjected to various changes and may have various embodiments. The examples described below and shown in the accompanying drawings are not intended to limit the present invention to a specific embodiment, but should be understood to include all changes, equivalents and even substitutes included in the concept and technical scope of the present invention.

[0041] When a component is described as being “connected” or “contacting” another component, it may be directly connected or contacting the other component, but it should also be understood that other components may exist in between. Conversely, when a component is described as being “directly connected” or “directly contacting” another component, it should be understood that no other components exist in between.

[0042] The terms used in this specification are used only to illustrate specific embodiments and are not intended to limit the present invention. Unless otherwise expressly defined in the text, singular expressions include plural expressions. In this specification, the terms "including" or "having" should be understood to specify only the presence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and do not preclude the presence or additional possibility of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0043] In addition, terms such as “…part,” “…unit,” and “…module” described in the specification refer to units that process at least one function or action, which can be implemented by hardware, software, or a combination of hardware and software.

[0044] In addition, in the description with reference to the drawings, the same reference numerals are given to the same components regardless of the reference numerals, and repeated descriptions are omitted. In the description of the present invention, if it is determined that the description of the related known technology makes the present invention unclear, its detailed description will be omitted.

[0045] In addition, throughout the present specification, when a certain step is "above" or "before" another step, this not only refers to the case where a certain step and another step have a direct time series relationship, but also includes the case of an indirect time series in which the time series order can be reversed in the order of the two steps (such as a mixed step after each step), and both have the same scope of rights.

[0046] Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings. However, this does not limit the present invention to specific embodiments, and it should be understood that all modifications, equivalent technical solutions, and alternative technical solutions within the scope of the present invention are included.

[0047] Figure 3 1 is a block diagram illustrating a fault-tolerant operation device for a six-phase permanent magnet synchronous motor according to the present invention.

[0048] Reference Figure 3 The fault-tolerant operation device for a six-phase permanent magnet synchronous motor of the present invention comprises a torque and current control unit 100, a load distribution ratio control unit 200, a decoupling vector space decomposition unit 310, a DQ inverse converter 320, a first pulse width modulation signal output unit 330, a second pulse width modulation signal output unit 340, a first inverter 350, a second inverter 360, and a DQ converter 370. The torque and current control unit 100 comprises a torque command unit 110, a first subtractor 120, a second subtractor 130, a first current control unit 140, and a second current control unit 150. The load distribution ratio control unit 200 comprises a fault diagnosis operation control unit 210, a first inverter load distribution ratio adjustment unit 220, a second inverter load distribution ratio adjustment unit 230, a third subtractor 240, a fourth subtractor 250, a third current control unit 260, and a fourth current control unit 270.

[0049] First, the fault-tolerant operation device of the present invention is applied to Figure 2 The asymmetric six-phase motor shown in the example has an asymmetric second coil group consisting of three-phase coils (x, y, and z) relative to the first coil group consisting of three-phase coils (a, b, and c), thereby canceling out torque ripples that pulsate at the sixth harmonic.

[0050] In the present invention, the first coil groups of phases a, b, and c are independently controlled by first inverter 350, and the second coil groups of phases x, y, and z are independently controlled by second inverter 360. However, the first and second coil groups are modeled as a single motor for analysis.

[0051] The torque current control unit 100 performs torque-current control for a motor model through D1-Q1 axis control. Figure 4As shown in the example, the D1-Q1 axes represent the sum of the three-phase components of phases a, b, and c, and x, y, and z, respectively. In the present invention, the D1-Q1 axes are used to perform vector control of a six-phase motor. The torque and current control unit 100 uses voltage control within a specified torque range to implement Maximum Torque Per Ampere (MTPA) control, which controls current and torque. When the applied voltage reaches its limit, field weakening control (FWC) is implemented to increase current by gradually reducing magnetic flux, thereby achieving higher speeds.

[0052] The load distribution ratio control unit 200 adjusts the load distribution ratio of the first inverter 350 and the second inverter 360 through the D2-Q2 axis control. Figure 5 As shown in the example, the D2-Q2 axes represent the differences between the three-phase components (a, b, and c) and the three-phase components (x, y, and z). For example, when the three-phase components (a, b, and c) are in equilibrium with the three-phase components (x, y, and z), the magnitudes of the D2 and Q2 axes are zero. This property is utilized in the present invention to control the load sharing ratio.

[0053] Reference Figure 3 The DQ converter 370 is a unit that converts the current values detected in the two three-phase coils of the six-phase motor into the D1-Q1 axis coordinate system and the D2-Q2 axis coordinate system current for the D1-Q1 axis control and D2-Q2 axis control of the present invention. The DQ converter 370 converts the current i detected from the first coil group into the current i of the D1-Q1 axis coordinate system and the D2-Q2 axis coordinate system according to the following formula 1. a 、i b 、i c , the phase current i detected from the second coil group x 、i y 、i z and the rotation angle θ of the six-phase permanent magnet synchronous motor r Perform DQ conversion to model the current i in the D1-Q1 axis coordinate system D1 、i Q1 and the current i in the D2-Q2 axis coordinate system D2 、i Q2 .

[0054] Formula 1:

[0055] Among them, i D1 is the D1 axis current, i Q1 is the Q1 axis current, i D2 is the D2 axis current, i Q2 is the Q2 axis current, θ r is the actual rotation angle of the six-phase permanent magnet synchronous motor, i ais the a-phase current, i b is the b-phase current, i c is the c-phase current, i x is the x-phase current, i y is the y-phase current, i z is the z-phase current.

[0056] The torque instruction unit 110 is configured to generate a torque instruction T e * Generate D1 axis current instruction i D1 * and Q1 axis current command i Q1 * The first subtractor 120 calculates the D1 axis current command i D1 * The D1 axis current i fed back from the DQ converter 370 D1 The first current control unit 140 performs proportional integration on the difference between the command and the actual measured current of the DQ conversion to generate the D1 axis voltage command u D1 * The second subtractor 130 calculates the Q1 axis current command i Q1 * The Q1 axis current i fed back from the DQ converter 370 Q1 The second current control unit 150 performs proportional integration on the difference between the command and the actual measured current of the DQ conversion to generate the Q1 axis voltage command u Q1 * .

[0057] The first inverter load distribution ratio adjustment unit 220 adjusts the Q1 axis current i Q1 Multiply it by the positive load sharing constant CLR to generate the D2 axis current command i D2 * The second inverter load distribution ratio adjustment unit 230 adjusts the D1 axis current i D1 Multiply it with the negative load sharing constant -CLR to generate the Q2 axis current command i Q2 * The load sharing constant CLR is a constant within the range of the following formula 2 and can be determined by a signal received from an additional operation control unit. In addition, in the present invention, the fault diagnosis operation control unit 210 can determine the load sharing constant CLR.

[0058] Formula 2: -1≤CLR≤1

[0059] The third subtractor 240 calculates the D2 axis current command i D2 * The D2 axis current i fed back from the DQ converter 370 D2The third current control unit 260 performs proportional integration on the difference between the command and the actual measured current of the DQ conversion to generate the D2 axis voltage command u D2 * The fourth subtractor 250 calculates the Q2 axis current command i Q2 * The Q2 axis current i fed back from the DQ converter 370 Q2 The fourth current control unit 270 performs proportional integration on the difference between the command and the actual measured current of the DQ conversion to generate the Q2 axis voltage command u Q2 * .

[0060] In the present invention, the current command of the D2-Q2 axis synchronous coordinate system is determined by the following formula 3.

[0061] Formula 3:

[0062] In the above formula 3, when the load sharing constant CLR is a positive number less than 1, the D2 axis current command i D2 * becomes the same as Q1 axis current i Q1 The proportional value, Q2 axis current command i Q2 * becomes the same as the D1 axis current i D1 If the load sharing constant CLR is 1, the D2 axis current instruction i D2 * and Q1 axis current i Q1 Same, Q2 axis current command i Q2 * and D1 axis current i D1 That is, when the load sharing constant CLR is a positive number less than 1, it means that the distribution ratio of the first inverter 350 controlling the three-phase coils of phases a, b, and c is high. When the load sharing constant CLR is 1, it means that 100% of the load is distributed to the first inverter 350. On the contrary, when the load sharing constant CLR is a negative number greater than -1, it means that the distribution ratio of the second inverter 360 is high. When the load sharing constant CLR is -1, it means that 100% of the load is distributed to the second inverter 360. If the load sharing constant CLR is zero, it means that the D2 axis current command i D2 * With Q2 axis current command i Q2 * The feedback current is input as it is, and 50% of the load is distributed to the two inverters respectively.

[0063] That is, the load sharing ratio of the first inverter 350 can be represented by "(CLR+1) / 2", and the load sharing ratio of the second inverter 360 can be represented by "(-CLR+1) / 2". In the present invention, the load sharing constant CLR is set to a value between -1 and 1, and the load sharing ratio of the first inverter 350 and the second inverter 360 can be adjusted by performing D2-Q2 axis control.

[0064] Here, it is assumed that either the first inverter 350 or the second inverter fails and cannot operate. When the second inverter 360 cannot operate, the fault diagnosis operation control unit 210 sets the load sharing constant CLR to 1. Figure 6 , D2 axis current command i D2 * and Q1 axis current i Q1 Same, Q2 axis current command i Q2 * and D1 axis current i D1 The first inverter 350 operates at a load sharing ratio of 100%. On the contrary, when the first inverter 350 is not operable, the fault diagnosis operation control unit 210 sets the load sharing constant CLR to -1. Figure 7 , D2 axis current command i D2 * and Q1 axis current i Q1 The negative number of Q2 axis current instruction i Q2 * and D1 axis current i D1 Likewise, the second inverter 360 operates at a load sharing ratio of 100%.

[0065] Refer again Figure 3 The decoupling vector space decomposition unit 310 receives the torque-current control command output from the torque current control unit 100, that is, the D1-Q1 axis voltage command u D1 * 、u Q1 * and the load distribution control command output from the load distribution ratio control unit 200, that is, the D2-Q2 axis voltage command u D2 * 、u Q2 * , according to the actual rotation speed ω detected in the six-phase permanent magnet synchronous motor r Output D1-Q1 axis control voltage u D1 、u Q1 and D2-Q2 axis control voltage u D2 、u Q2 .

[0066] The DQ inverse converter 320 converts the D1-Q1 axis control voltage uD1 、u Q1 and D2-Q2 axis control voltage u D2 、u Q2 Reverse conversion to the first inverter control voltage u abc and the second inverter control voltage u xyz The first pulse width modulation signal output unit 330 generates a first pulse width modulation signal according to the first inverter control voltage u abc The first pulse width modulation signal for controlling the space vector of the first coil group is generated and supplied to the first inverter 350. The second pulse width modulation signal output unit 340 generates a first pulse width modulation signal for controlling the space vector of the first coil group and supplies the first pulse width modulation signal to the first inverter 350. xyz A second pulse width modulation signal for controlling the space vector of the second coil group is generated and supplied to the second inverter 360 .

[0067] Figure 8 This is a waveform diagram for measuring the process of switching the operation of the first inverter to a load sharing ratio of 100% when a fault occurs in the second inverter in the present invention.

[0068] like Figure 8 As shown, 0.5 seconds after the six-phase motor begins to start, the first inverter 350 and the second inverter 360 each operate at a 50% load sharing ratio. Until 0.5 seconds, the observed currents in phases a, b, and c of the first coil group and the currents in phases x, y, and z of the second coil group are all the same. Assuming that a fault occurs in second inverter 360 at 0.5 seconds, the fault diagnosis operation control unit 210 changes the load sharing constant CLR to 1. Second inverter 360 immediately ceases operation, and the current in the second coil group drops to zero. Conversely, first inverter 350 switches to a 100% load sharing ratio, and the current in the first coil group increases by almost two times.

[0069] like Figure 8 The left-hand graph shows torque-current control executed through the D1-Q1 axis. It can be confirmed that the switch from maximum torque-current ratio control to field-weakening control occurs between 0.5 and 1 second, and the current in the first coil group decreases accordingly. The load torque remains at a level similar to the torque command, and no torque ripple is observed even when the load distribution ratio is changed.

[0070] The embodiments and drawings described in this specification are merely examples of a portion of the technical concepts encompassed by the present invention. Accordingly, the embodiments disclosed in this specification are not intended to limit the technical concepts of the present invention, but rather are intended to illustrate the present invention. Such embodiments should not limit the scope of the technical concepts of the present invention, and this is obvious. All variations and specific embodiments that can be readily inferred by those skilled in the art within the scope of the technical concepts encompassed in the specification and drawings of the present invention should be interpreted as being encompassed within the scope of the present invention.

Claims

1. A fault-tolerant operation device for a six-phase permanent magnet synchronous motor, characterized in that: include: A six-phase permanent magnet synchronous motor includes a first coil group consisting of three-phase coils of phases a, b, and c, and a second coil group consisting of three-phase coils of phases x, y, and z, wherein the first coil group and the second coil group are asymmetrically arranged. a first inverter, configured to control the operation of the first coil group; a second inverter, configured to control the operation of the second coil group; The DQ converter detects the phase currents (i a 、i b 、i c ), each phase current (i x 、i y 、i z ) and the rotation angle (θ r ) is converted into the current (i D1 、i Q1 ) and the current (i D2 、i Q2 ); The torque current control unit, according to the torque command (T e * )Generate D1-Q1 axis current instruction (i D1 * 、i Q1 * ), receiving the current (i D1 、i Q1 ) to control the operation of the first inverter and the second inverter; and The load distribution ratio control unit is based on the D2-Q2 axis current instruction (i D2 * 、i Q2 * ) controls the allocation ratio of the first inverter and the second inverter, and the D2-Q2 axis current instruction (i D2 * 、i Q2 * ) is generated based on the fault diagnosis results of the first inverter and the second inverter, The DQ converter uses the following formula 1 to calculate the current (i D1 、i Q1 ) and the current (i D2 、i Q2 ) for modeling, Formula 1: Among them, i D1 is the D1 axis current, i Q1 is the Q1 axis current, i D2 is the D2 axis current, i Q2 is the Q2 axis current, θ r is the actual rotation angle of the six-phase permanent magnet synchronous motor, i a is the a-phase current, i b is the b-phase current, i c is the c-phase current, i x is the x-phase current, i y is the y-phase current, i z is the z-phase current, The load distribution ratio control unit includes: a fault diagnosis operation control unit, which outputs a load sharing constant (CLR) within the range of the following formula 2 based on the fault diagnosis results of the first inverter and the second inverter; The first inverter load distribution ratio adjustment unit adjusts the Q1 axis current (i Q1 ) is multiplied by the positive load sharing constant (CLR) to generate the D2 axis current command (i D2 * );as well as The second inverter load distribution ratio adjustment unit adjusts the D1 axis current (i D1 ) is multiplied by the negative load sharing constant (-CLR) to generate the Q2 axis current command (i Q2 * ), Formula 2: -1≤CLR≤1.

2. The fault-tolerant operation device of the six-phase permanent magnet synchronous motor according to claim 1, characterized in that: In the fault diagnosis operation control portion, when the second inverter is inoperable, the load sharing constant (CLR) is set to 1, and when the first inverter is inoperable, the load sharing constant (CLR) is set to -1.

3. The fault-tolerant operation device of the six-phase permanent magnet synchronous motor according to claim 1, characterized in that: The torque current control unit includes: The torque command unit, according to the torque command (T e * )Generate D1 axis current instruction (i D1 * ) and Q1 axis current command (i Q1 * ); The first current control unit receives the D1 axis current instruction (i D1 * ) and the D1 axis current (i D1 ) is used to generate the D1 axis voltage command (u D1 * );as well as The second current control unit receives the Q1 axis current instruction (i Q1 * ) and the Q1 axis current (i Q1 ) is used to generate the Q1 axis voltage command (u Q1 * ).

4. The fault-tolerant operation device of the six-phase permanent magnet synchronous motor according to claim 1, characterized in that: The load distribution ratio control unit further includes: The third current control unit receives the D2 axis current instruction (i D2 * ) and the D2 axis current (i D2 ) is used to generate the D2 axis voltage command (u D2 * );as well as The fourth current control unit receives the Q2 axis current instruction (i Q2 * ) and the Q2 axis current (i Q2 ) is used to generate the Q2 axis voltage command (u Q2 * ).

5. The fault-tolerant operation device of the six-phase permanent magnet synchronous motor according to claim 1, characterized in that: Also includes: The decoupling vector space decomposition unit receives the torque-current control instruction (u D1 * 、u Q1 * ) and the load distribution control instruction (u D2 * 、u Q2 * ), according to the actual rotation speed (ω r ) output D1-Q1 axis control voltage (u D1 、u Q1 ) and D2-Q2 axis control voltage (u D2 、u Q2 ); The DQ inverse converter converts the above D1-Q1 axis control voltage (u D1 、u Q1 ) and the above D2-Q2 axis control voltage (u D2 、u Q2 ) is inversely converted into the first inverter control voltage (u abc ) and the second inverter control voltage (u xyz ); The first pulse width modulation signal output unit generates a first pulse width modulation signal according to the first inverter control voltage (u abc ) generating a first pulse width modulation signal for controlling the space vector of the first coil group and supplying the signal to the first inverter; as well as The second pulse width modulation signal output unit generates a pulse width modulation signal according to the second inverter control voltage (u xyz ) generates a second pulse width modulation signal for controlling the space vector of the second coil group and supplies it to the second inverter.

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