Fault-tolerant control method and system for double-salient permanent magnet motor

Abstract

The application discloses a kind of fault-tolerant control method and system of double armature flux switching motor.The fault-tolerant control method of double armature flux switching motor includes the following steps: in the process of decoupling vector control of double armature flux switching motor according to the d-axis and q-axis reference current of stator and rotor, if the stator winding and / or the rotor winding circuit is detected, the phase current corresponding to the circuit winding is compensated;The d-axis and q-axis reference current of stator and rotor are updated respectively, so that the output torque of double armature flux switching motor remains unchanged before and after winding circuit.The application reassigns the stator and rotor current to maintain the output torque of double armature flux switching motor unchanged before and after winding circuit, which can avoid the problem that winding circuit causes motor output torque fluctuation and affects motor life, in addition, the algorithm for compensating phase current when winding circuit has good dynamic performance and steady-state accuracy.

Description

Technical Field

[0001] This invention relates to the field of motor control, and in particular to a fault-tolerant control method and system for a dual armature flux switching motor. Background Technology

[0002] Flux-switched motors, also known as switched flux motors or switched flux motors, are a type of permanent magnet excitation motor. They possess the advantages of high power density and high efficiency inherent in permanent magnet motors and are widely used in electric vehicles, aerospace, medical applications, and robotics. Recently, a dual-armature flux-switched motor has been proposed, which adds an extra set of windings to the rotor of the traditional flux-switched motor, thus achieving even higher power density and stronger fault-tolerant operation.

[0003] Dual-armature flux-switching motors have windings on both the stator and rotor, and both stator and rotor windings are susceptible to single-phase open-circuit faults. During operation under single-phase open-circuit fault conditions, the output torque of the dual-armature flux-switching motor will exhibit significant fluctuations, thus affecting the motor's lifespan. Therefore, research on how to suppress torque fluctuations under single-phase open-circuit fault conditions is of great importance. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the defect of large output torque fluctuations affecting the life of the motor when the dual armature flux switching motor is running under single-phase open circuit fault conditions, and to provide a fault-tolerant control method and system for the dual armature flux switching motor.

[0005] The present invention solves the above-mentioned technical problems through the following technical solution:

[0006] A first aspect of the present invention provides a fault-tolerant control method for a dual-armature flux-switching motor, the dual-armature flux-switching motor comprising stator windings and rotor windings, the fault-tolerant control method comprising the following steps:

[0007] During the decoupling vector control of the dual armature flux switching motor based on the d-axis and q-axis reference currents of the stator and rotor, if an open circuit is detected in the stator winding and / or the rotor winding, the phase current corresponding to the open circuit winding is compensated.

[0008] The reference currents for the d-axis and q-axis of the stator and rotor are updated respectively to ensure that the output torque of the dual armature flux switching motor remains unchanged before and after the winding is disconnected.

[0009] Optionally, the step of updating the d-axis and q-axis reference currents of the stator and rotor respectively specifically includes:

[0010] The reference currents for the stator and rotor d-axis and q-axis are updated based on the total copper loss of the dual-armature flux-switching motor, respectively; or...

[0011] The reference currents for the stator and rotor along the d-axis and q-axis are updated based on the copper loss of the open-circuit winding, respectively; or...

[0012] The reference currents for the d-axis and q-axis of the stator and rotor are updated based on the amplitude of the healthy phase current in the open-circuit winding.

[0013] Optionally, the step of compensating the phase current corresponding to the open-circuit winding if an open circuit in the stator winding is detected specifically includes:

[0014] If a single-phase stator winding open circuit is detected and there is no stator third harmonic flux linkage, then zero-sequence current is injected into the stator phase current.

[0015] If a stator single-phase winding open circuit is detected and a stator third harmonic flux linkage is present, then zero-sequence current and third harmonic current are injected into the stator phase current.

[0016] Optionally, the step of compensating the phase current corresponding to the open-circuit winding if an open circuit in the rotor winding is detected specifically includes:

[0017] If a single-phase winding of the rotor is detected to be open and there is no rotor third harmonic flux linkage, then the second harmonic in the current of the rotor fundamental rotating plane is suppressed.

[0018] If a single-phase winding of the rotor is detected to be open and a third harmonic flux linkage of the rotor is present, then a third harmonic current is injected into the rotor phase current.

[0019] Optionally, the step of decoupling vector control of the dual armature flux switching motor based on the d-axis and q-axis reference currents of the stator and rotor specifically includes:

[0020] Obtain the stator and rotor currents of the dual armature flux switching motor;

[0021] The stator and rotor currents are transformed by coordinate transformation to obtain the actual d-axis current and q-axis current in the stator and rotor synchronous rotation coordinate system.

[0022] The d-axis reference voltage of the stator and rotor is calculated based on the difference between the d-axis reference current and the actual d-axis current of the stator and rotor, respectively; and the q-axis reference voltage of the stator and rotor is calculated based on the difference between the q-axis reference current and the actual q-axis current of the stator and rotor, respectively.

[0023] The feedforward voltages of the stator and rotor along the d-axis and q-axis are calculated based on the rotational speed of the dual armature flux switching motor and the actual currents of the stator and rotor along the d-axis and q-axis, respectively.

[0024] The first control quantity in the synchronous rotating coordinate system of the stator and rotor is calculated based on the reference voltages of the d-axis and q-axis of the stator and rotor, the decoupling matrix, and the feedforward voltages of the d-axis and q-axis of the stator and rotor, respectively. The decoupling matrix is ​​determined based on the inductance of the dual armature flux switching motor in the synchronous rotating coordinate system.

[0025] The first control quantity in the synchronous rotating coordinate system of the stator and rotor is transformed to obtain the second control quantity in the stationary coordinate system of the stator and rotor.

[0026] The dual armature flux switching motor is controlled according to the second control quantity in the stator and rotor stationary coordinate system.

[0027] A second aspect of the present invention provides a fault-tolerant control system for a dual-armature flux-switching motor, the dual-armature flux-switching motor comprising stator windings and rotor windings, the control system comprising:

[0028] The current compensation module is used to compensate the phase current corresponding to the open-circuit winding if an open circuit is detected in the stator winding and / or the rotor winding during the decoupling vector control of the dual armature flux switching motor based on the d-axis and q-axis reference currents of the stator and rotor.

[0029] The current update module is used to update the reference currents of the stator and rotor along the d-axis and q-axis respectively, so that the output torque of the dual armature flux switching motor remains unchanged before and after the winding is disconnected.

[0030] Optionally, the current update module is specifically used to update the d-axis and q-axis reference currents of the stator and rotor according to the total copper loss of the dual armature flux switching motor, or to update the d-axis and q-axis reference currents of the stator and rotor according to the copper loss of the open-circuit winding, or to update the d-axis and q-axis reference currents of the stator and rotor according to the amplitude of the healthy phase current in the open-circuit winding.

[0031] Optionally, the current compensation module is specifically used to inject zero-sequence current into the stator phase current when a stator single-phase winding open circuit is detected and there is no stator third harmonic flux linkage; and to inject zero-sequence current and third harmonic current into the stator phase current when a stator single-phase winding open circuit is detected and there is stator third harmonic flux linkage.

[0032] Optionally, the current compensation module is specifically used to suppress the second harmonic in the current of the rotor fundamental rotating plane when a single-phase winding of the rotor is detected to be open and there is no rotor third harmonic flux linkage; and to inject third harmonic current into the rotor phase current when a single-phase winding of the rotor is detected to be open and there is rotor third harmonic flux linkage.

[0033] Optionally, the fault-tolerant control system further includes:

[0034] A current acquisition module is used to acquire the stator and rotor currents of the dual armature flux switching motor.

[0035] The first coordinate transformation module is used to perform coordinate transformation on the stator and rotor currents respectively to obtain the actual d-axis current and the actual q-axis current in the stator and rotor synchronous rotation coordinate system.

[0036] The reference voltage calculation module is used to calculate the d-axis reference voltage of the stator and rotor based on the difference between the d-axis reference current and the actual d-axis current of the stator and rotor, and to calculate the q-axis reference voltage of the stator and rotor based on the difference between the q-axis reference current and the actual q-axis current of the stator and rotor.

[0037] The feedforward voltage calculation module is used to calculate the d-axis and q-axis feedforward voltages of the stator and rotor based on the speed of the dual armature flux switching motor and the actual d-axis and q-axis currents of the stator and rotor, respectively.

[0038] The decoupling module is used to calculate the first control quantity in the synchronous rotating coordinate system of the stator and rotor based on the reference voltages of the d-axis and q-axis of the stator and rotor, the decoupling matrix, and the feedforward voltages of the d-axis and q-axis of the stator and rotor, respectively. The decoupling matrix is ​​determined based on the inductance of the dual armature flux switching motor in the synchronous rotating coordinate system.

[0039] The second coordinate transformation module is used to perform coordinate transformation on the first control quantity in the synchronous rotating coordinate system of the stator and rotor to obtain the second control quantity in the stationary coordinate system of the stator and rotor.

[0040] The control module is used to control the dual armature flux switching motor according to the second control quantity in the stator and rotor stationary coordinate system.

[0041] The positive and progressive effects of this invention are as follows: In the process of decoupling vector control of a dual-armature flux-switching motor, if a stator winding open circuit is detected, the stator phase current is compensated; if a rotor winding open circuit is detected, the rotor phase current is compensated. This algorithm for compensating phase current when the winding is open has good dynamic performance and steady-state accuracy. Furthermore, by redistributing the stator and rotor currents, the output torque of the dual-armature flux-switching motor remains constant before and after the winding is open, thus avoiding the problem of large fluctuations in motor output torque caused by winding open circuits, which affects the motor's lifespan. Attached Figure Description

[0042] Figure 1 A flowchart of a fault-tolerant control method for a dual-armature flux-switching motor provided in an embodiment of the present invention.

[0043] Figure 2 This is a flowchart of a method for decoupling vector control of a dual-armature flux-switching motor, provided by an embodiment of the present invention.

[0044] Figure 3 This is a schematic diagram of the winding distribution of a dual armature flux switching motor provided in an embodiment of the present invention.

[0045] Figure 4(a) is a schematic diagram of the stator rotation coordinate system provided in an embodiment of the present invention.

[0046] Figure 4(b) is a schematic diagram of the rotor fundamental wave rotating coordinate system provided in an embodiment of the present invention.

[0047] Figure 4(c) is a schematic diagram of the rotor harmonic rotating coordinate system provided in an embodiment of the present invention.

[0048] Figure 5 This is a control block diagram of a dual armature flux switching motor provided in an embodiment of the present invention.

[0049] Figure 6 This is a schematic diagram of the wiring of a stator winding with zero-sequence current injected by an external bridge arm, provided for an embodiment of the present invention.

[0050] Figure 7(a) is a stator phase current waveform diagram after the stator c-phase winding is disconnected according to an embodiment of the present invention.

[0051] Figure 7(b) is a rotor phase current waveform diagram after the stator c-phase winding is disconnected according to an embodiment of the present invention.

[0052] Figure 8 The output torque waveform diagram after the stator c-phase winding is disconnected is provided in an embodiment of the present invention.

[0053] Figure 9 This is a current vector distribution diagram for injecting zero-sequence current, provided as an embodiment of the present invention.

[0054] Figure 10 This invention provides a control block diagram for a dual-armature flux switching motor in which the stator single-phase winding is open-circuited and there is no stator third harmonic flux linkage.

[0055] Figure 11(a) is a stator phase current waveform diagram after the stator c-phase winding is disconnected and zero-sequence current is injected according to an embodiment of the present invention.

[0056] Figure 11(b) is a rotor phase current waveform diagram after the stator c-phase winding is disconnected and zero-sequence current is injected, according to an embodiment of the present invention.

[0057] Figure 12 The output torque waveform diagram provided in this embodiment of the invention is shown after the stator c-phase winding is disconnected and zero-sequence current is injected.

[0058] Figure 13(a) is a stator phase current waveform diagram after the stator c-phase winding is disconnected, zero-sequence current is injected, and stator and rotor currents are redistributed according to an embodiment of the present invention.

[0059] Figure 13(b) is a rotor phase current waveform diagram after the stator c-phase winding is disconnected, zero-sequence current is injected, and the stator and rotor currents are redistributed according to an embodiment of the present invention.

[0060] Figure 14 The output torque waveform diagram provided in this embodiment of the invention is shown after the stator c-phase winding is disconnected, zero-sequence current is injected, and the stator and rotor currents are redistributed.

[0061] Figure 15 This is a control block diagram for a dual-armature flux switching motor in which the stator single-phase winding is open-circuited and the stator third harmonic flux linkage exists, provided as an embodiment of the present invention.

[0062] Figure 16 This is a control block diagram for a dual-armature flux switching motor in which the rotor single-phase winding is open-circuited and there is no rotor third harmonic flux linkage, provided as an embodiment of the present invention.

[0063] Figure 17(a) is a stator phase current waveform diagram after the rotor a-phase winding is disconnected according to an embodiment of the present invention.

[0064] Figure 17(b) is a rotor phase current waveform diagram after the rotor a-phase winding is disconnected according to an embodiment of the present invention.

[0065] Figure 18 The output torque waveform diagram after the rotor a-phase winding is disconnected is provided for an embodiment of the present invention.

[0066] Figure 19 This is a control block diagram for a dual-armature flux switching motor in which the rotor single-phase winding is open-circuited and the rotor third harmonic flux linkage exists, provided as an embodiment of the present invention.

[0067] Figure 20(a) shows the reference current and actual current waveforms of the rotor fundamental plane d-axis after the rotor a-phase is disconnected and the third harmonic current is injected, according to the embodiment of the present invention.

[0068] Figure 20(b) shows the reference current and actual current waveforms of the rotor fundamental plane q axis after the rotor a phase is disconnected and the third harmonic current is injected, according to the embodiment of the present invention.

[0069] Figure 20(c) shows the reference current and actual current waveforms of the rotor third harmonic plane d-axis after the rotor a-phase is disconnected and the third harmonic current is injected, according to the embodiment of the present invention.

[0070] Figure 20(d) shows the reference current and actual current waveforms of the rotor third harmonic plane q axis after the rotor a phase is disconnected and the third harmonic current is injected, according to the embodiment of the present invention.

[0071] Figure 21(a) is a stator phase current waveform diagram after the rotor a-phase winding is disconnected and the third harmonic current is injected, according to an embodiment of the present invention.

[0072] Figure 21(b) is a rotor phase current waveform diagram after the rotor a-phase winding is disconnected and the third harmonic current is injected, according to an embodiment of the present invention.

[0073] Figure 22 The output torque waveform diagram provided in this embodiment of the invention is shown after the rotor a-phase winding is disconnected and a third harmonic current is injected. Detailed Implementation

[0074] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0075] Figure 1 This is a flowchart illustrating a fault-tolerant control method for a dual-armature flux-switching motor provided in this embodiment. This fault-tolerant control method can be executed by a fault-tolerant control system for the dual-armature flux-switching motor. This fault-tolerant control system can be implemented through software and / or hardware, and can be part or all of an electronic device. The dual-armature flux-switching motor includes stator windings and rotor windings.

[0076] like Figure 1 As shown, the fault-tolerant control method for a dual-armature flux-switching motor provided in this embodiment may include the following steps S101 to S102:

[0077] Step S101: During the decoupling vector control of the dual armature flux switching motor based on the d-axis and q-axis reference currents of the stator and rotor, if an open circuit is detected in the stator winding and / or the rotor winding, the phase current corresponding to the open circuit winding is compensated.

[0078] In the specific implementation of step S101, the d-axis and q-axis reference currents of the stator and rotor can be set according to the ratio of the stator output torque to the rotor output torque. In a specific example, the ratio of the stator output torque to the rotor output torque is 1:1.

[0079] In specific implementation, such as Figure 2 As shown, the step of decoupling vector control of the dual armature flux switching motor in step S101 may include:

[0080] Step S201: Obtain the stator and rotor currents of the dual-armature flux-switching motor. In specific implementation, the stator current and rotor current of the dual-armature flux-switching motor are collected separately.

[0081] Step S202: Perform coordinate transformation on the stator and rotor currents respectively to obtain the actual d-axis current and q-axis current in the stator and rotor synchronous rotation coordinate system.

[0082] In the specific implementation of step S202, the first coordinate transformation matrix T of the stator synchronous rotating coordinate system can be used. s By performing a coordinate transformation on the stator current, the actual d-axis current and q-axis current in the stator synchronous rotating coordinate system are obtained; where the first coordinate transformation matrix T s It is determined by the electrical angle of the stator current.

[0083] In the specific implementation of step S202, the second coordinate transformation matrix T of the rotor synchronous rotating coordinate system can be used. r By performing a coordinate transformation on the rotor current, the actual d-axis current and q-axis current in the rotor synchronous rotation coordinate system are obtained; where the second coordinate transformation matrix T r The angle is determined by the electrical angle of the rotor current.

[0084] The electrical angles of the stator current and the rotor current can be obtained from the rotor position signal acquired by the position encoder, or they can be obtained through other methods. In one specific implementation example, the dual-armature flux-switching motor is equipped with a position encoder for acquiring the rotor position signal. In this specific implementation, the electrical angle of the stator current can be the angle between the stator a-axis and q-axis, and the electrical angle of the rotor current can be the angle between the rotor a-axis and q-axis.

[0085] Step S203: Calculate the d-axis reference voltage of the stator and rotor based on the difference between the d-axis reference current and the actual d-axis current of the stator and rotor, respectively, and calculate the q-axis reference voltage of the stator and rotor based on the difference between the q-axis reference current and the actual q-axis current of the stator and rotor, respectively.

[0086] In one specific implementation example of step S203, a proportional-integral (PI) algorithm is used to calculate the d-axis reference voltage and the q-axis reference voltage of the stator and rotor. Specifically, the PI algorithm is used to calculate the stator's d-axis reference voltage based on the difference between the stator's d-axis reference current and the actual d-axis current; the PI algorithm is used to calculate the stator's q-axis reference voltage based on the difference between the stator's q-axis reference current and the actual q-axis current; the PI algorithm is used to calculate the rotor's d-axis reference voltage based on the difference between the rotor's d-axis reference current and the actual d-axis current; and the PI algorithm is used to calculate the rotor's q-axis reference voltage based on the difference between the rotor's q-axis reference current and the actual q-axis current.

[0087] In another example of the specific implementation of step S203, the proportional-integral-differential algorithm is used to calculate the d-axis reference voltage and the q-axis reference voltage of the stator and rotor.

[0088] Step S204: Calculate the d-axis and q-axis feedforward voltages of the stator and rotor based on the rotational speed of the dual armature flux switching motor and the actual d-axis and q-axis currents of the stator and rotor, respectively.

[0089] In practical implementation, the feedforward voltage includes back electromotive force and resistance voltage drop. The rotational speed of the dual-armature flux-switching motor can be obtained from the rotor position signal acquired by the position encoder.

[0090] Step S205: Calculate the first control quantity in the synchronous rotating coordinate system of the stator and rotor based on the reference voltages of the d-axis and q-axis of the stator and rotor, the decoupling matrix, and the feedforward voltages of the d-axis and q-axis of the stator and rotor. The decoupling matrix is ​​determined based on the inductance of the dual-armature flux-switching motor in the synchronous rotating coordinate system.

[0091] Step S206: Perform coordinate transformation on the first control quantity in the stator and rotor synchronous rotating coordinate system to obtain the second control quantity in the stator and rotor stationary coordinate system.

[0092] In the specific implementation of step S206, the inverse matrix of the first coordinate transformation matrix can be used to transform the first control quantity in the stator synchronous rotating coordinate system to obtain the second control quantity in the stator stationary coordinate system.

[0093] In the specific implementation of step S206, the inverse matrix of the second coordinate transformation matrix can be used to transform the first control quantity in the rotor synchronous rotation coordinate system to obtain the second control quantity in the rotor stationary coordinate system.

[0094] Step S207: Control the dual armature flux switching motor according to the second control quantity in the stator and rotor stationary coordinate system.

[0095] In the specific implementation of step S207, a first pulse width modulation signal is output according to the second control quantity in the stator stationary coordinate system, and the first pulse width modulation signal is input to the first power converter connected to the stator winding.

[0096] In the specific implementation of step S207, a second pulse width modulation signal is output according to the second control quantity in the rotor stationary coordinate system, and the second pulse width modulation signal is input to the second power converter connected to the rotor winding.

[0097] The first pulse width modulation signal and the second pulse width modulation signal can be either SPWM (Sinusoidal Pulse Width Modulation) signals or SVPWM (Space Vector Pulse Width Modulation) signals. The first power converter and the second power converter can also be referred to as inverters.

[0098] The above control method will be described in detail below using a dual armature flux switching motor, which includes three-phase stator windings and five-phase stator windings, as an example.

[0099] like Figure 3 As shown, the dual-armature flux-switching motor has a three-phase stator winding and a five-phase rotor winding. The mathematical model of the flux linkage of the dual-armature flux-switching motor is as follows:

[0100]

[0101] Among them, L ss Let L be the stator self-inductance matrix. rr M is the rotor self-inductance matrix. sr M is the mutual inductance matrix between the stator and rotor. rs Let ψ be the mutual inductance matrix between the stator and rotor. ms For the stator permanent magnet flux linkage, ψ mr It is the rotor permanent magnet flux linkage.

[0102] The voltage mathematical model for a dual-armature flux-switched motor is as follows:

[0103]

[0104] Among them, R s R is the stator resistance. r This represents the rotor resistance.

[0105] Based on the stator synchronous rotating coordinate system shown in Figure 4(a), the first coordinate transformation matrix T of the three-phase stator winding is obtained. s as follows:

[0106]

[0107] Where, θ se For stator a-axis and q s The included angle of the axis.

[0108] Based on the rotor synchronous rotation coordinate system shown in Figures 4(b) and 4(c), the second coordinate transformation matrix T of the five-phase rotor winding is obtained. r as follows:

[0109]

[0110] Among them, rotor a-axis and q r1 The included angle of the axes is θ re Rotor a-axis and q r3 The included angle of the axes is 3θ re .

[0111] According to the first coordinate transformation matrix T mentioned above s Second coordinate transformation matrix T r Ignoring the zero-axis vector, the mathematical models of flux linkage and voltage for a dual-armature flux-switching motor in the synchronous rotating coordinate system are as follows:

[0112] ψ=L·I+ψ m

[0113] U=pψ+W·ψ+R·I

[0114] in,

[0115] ψ=[ψ sd ψ sq ψ rd1 ψ rq1 ψ rd3 ψ rq3 ] T

[0116] I = [i sd i sq i rd1 i rq1 i rd3 i rq3 ] T

[0117] ψ m =[ψ ms 0 ψ mr1 0 ψ mr3 0] T

[0118]

[0119] U = [u sd u sq u rd1 u rq1 u rd3 u rq3 ] T

[0120]

[0121]

[0122] Wherein, the subscript sd represents the stator d-axis component, sq represents the stator q-axis component, rd1 represents the rotor d-axis fundamental component, rq1 represents the rotor q-axis fundamental component, rd3 represents the rotor d-axis third harmonic component, rq3 represents the rotor q-axis third harmonic component, L represents self-inductance, M represents mutual inductance, R represents resistance, and p s p is the number of pole pairs of the stator. r ψ is the number of pole pairs of the rotor. m is the mechanical speed of the rotor.

[0123] Substituting the mathematical model of magnetic flux linkage in the synchronous rotating coordinate system into the mathematical model of voltage, we can obtain the mathematical relationship between voltage and current in the synchronous rotating coordinate system:

[0124] U=L·dI+W·L·I+W·ψ m +R·I

[0125] Figure 5 In response to Figure 3 The diagram shown is a control block diagram of a dual-armature flux-switching motor. Figure 5 As shown, the stator current i of the dual armature flux switching motor is obtained. sa i sb i sc and rotor current i ra i rb i rc i rd i re Using the first coordinate transformation matrix T s For stator current i sa i sb i sc By performing a coordinate transformation, the actual d-axis current i in the stator synchronous rotating coordinate system is obtained. sd and the actual q-axis current i sq Using the second coordinate transformation matrix T r For rotor current i ra i rb i rc i rd i re Perform a coordinate transformation to obtain the actual d-axis current i in the rotor synchronous rotation coordinate system. rd i rd3 and the actual q-axis current i rq i rq3 .

[0126] The proportional-integral algorithm is used based on the stator's d-axis reference current i. * sd With the actual current i on the d-axis sd The difference between the values ​​is used to calculate the d-axis reference voltage of the stator. A proportional-integral algorithm is then used based on the q-axis reference current i of the stator.* sq With the actual q-axis current i sq The difference between the values ​​is used to calculate the stator's q-axis reference voltage. A proportional-integral (PI) algorithm is employed based on the rotor's d-axis reference current i. * rd With the actual current i on the d-axis rd The difference between the values ​​is used to calculate the rotor's d-axis fundamental reference voltage. A proportional-integral algorithm is employed based on the rotor's q-axis reference current i. * rq With the actual q-axis current i rq The difference between the values ​​is used to calculate the rotor's q-axis fundamental reference voltage. A proportional-integral algorithm is employed based on the rotor's d-axis reference current i. * rd3 With the actual current i on the d-axis rd3 The difference between the values ​​is used to calculate the rotor's d-axis harmonic reference voltage. A proportional-integral algorithm is employed based on the rotor's q-axis reference current i. * rq3 With the actual q-axis current i rq3 The difference between them is used to calculate the q-axis harmonic reference voltage of the rotor.

[0127] The specific reference voltages for the stator and rotor along the d-axis and q-axis, calculated using the proportional-integral algorithm, are as follows:

[0128]

[0129] Among them, K Pm K is the proportionality coefficient. Im The integral coefficient is... For reference current, including i * sd i * sq i * rd i * rq i * rd3 i * rq3 I n For actual current, including i sd i sq i rd i rd3 i rq i rq3 In the example shown in Figure 4, i is used. * sd =0 and i * rd =0 vector control mode controls dual armature flux switching motor.

[0130] Since the inductance matrix L is not a diagonal matrix, coupling exists between the currents of each axis. The d-axis and q-axis reference voltages of the stator and rotor need to be decoupled through matrix transformation. Based on the voltage equations and the inductance matrix L, the decoupling matrix T is determined as follows:

[0131]

[0132] In this example, the decoupling matrix T is the same as the inductance matrix L of the dual-armature flux-switched motor. For the mathematical relationship between voltage and current in a synchronous rotating coordinate system, both sides of the formula are multiplied by the inverse of the decoupling matrix, i.e., T. -1 The decoupling relationship is obtained as follows:

[0133] T -1 U=dI+T -1 (W·L·I+W·ψ m +R·I)

[0134] Among them, let U feedforward =W·L·I+W·ψ m +R·I, we can obtain the decoupling control equation: T -1 UT - 1 U feedforward =dI. From this governing equation, it can be seen that the currents are decoupled and there is no coupling relationship.

[0135] Based on the derivation of the above decoupling process, and according to the rotational speed ω of the dual-armature flux switching motor... m And the actual d-axis current i of the stator and rotor sd i rd i rd3 and the actual q-axis current i sq i rq i rq3 Calculate the d-axis and q-axis feedforward voltages of the stator and rotor using the following formulas:

[0136] U feedforward =W·L·I+W·ψ m +R·I

[0137] Among them, U feedforward =[E sd E sq E rd E rq E rd3 E rq3 ] T E sd E is the d-axis feedforward voltage of the stator. sq E is the q-axis feedforward voltage of the stator. rd E is the feedforward voltage of the rotor's d-axis fundamental wave. rqE is the q-axis fundamental wave feedforward voltage of the rotor. rd3 E is the d-axis harmonic feedforward voltage of the rotor. rq3 This is the q-axis harmonic feedforward voltage of the rotor.

[0138] Based on the d-axis and q-axis reference voltages of the stator and rotor The decoupling matrix T and the d-axis and q-axis feedforward voltages U of the stator and rotor feedforward Calculate the first control variable in the synchronous rotation coordinate system of stator and rotor: Using the inverse matrix T of the first coordinate transformation matrix respectively s -1 The inverse matrix T of the second coordinate transformation matrix r -1 The first control variable U in the synchronous rotating coordinate system of stator and rotor * By performing coordinate transformation, the second control quantity u in the stator and rotor stationary coordinate system is obtained. sa u sb u sc u ra u rb u rc u rd u re According to the second control quantity u sa u sb u sc u ra u rb u rc u rd u re Three-phase SPWM is output to the first power converter connected to the stator winding, and five-phase SPWM is output to the second power converter connected to the rotor winding, thereby realizing current control of the dual armature flux switching motor.

[0139] In this embodiment, the decoupling matrix is ​​determined based on the inductance of the dual armature flux switching motor in the synchronous rotating coordinate system, and the decoupling matrix is ​​used to decouple the stator current vector and the rotor current vector, thereby achieving high-performance current control of the dual armature flux switching motor and thus achieving better static and dynamic performance.

[0140] In the specific implementation of step S101, if the stator winding is detected to be open-circuited, the stator phase current is compensated. Specifically: if a stator single-phase winding is detected to be open-circuited and there is no stator third harmonic flux linkage, zero-sequence current is injected into the stator phase current; if a stator single-phase winding is detected to be open-circuited and there is stator third harmonic flux linkage, zero-sequence current and third harmonic current are injected into the stator phase current.

[0141] Zero-sequence current can be injected by connecting an external bridge arm to the neutral point of the stator winding, such as... Figure 6 As shown. Zero-sequence current can also be injected by connecting a split capacitor externally to the neutral point of the stator winding. Third harmonic current can be injected through a PIR resonant controller (i.e., adding a PR resonant controller to the original PI controller) or through feedforward injection.

[0142] In the specific implementation of step S101, if the rotor winding is detected to be open-circuited, the rotor phase current is compensated. Specifically: if a single-phase rotor winding is detected to be open-circuited and there is no rotor third harmonic flux linkage, the second harmonic in the current of the rotor fundamental rotating plane is suppressed; if a single-phase rotor winding is detected to be open-circuited and there is rotor third harmonic flux linkage, the third harmonic current is injected into the rotor phase current.

[0143] Specifically, the second harmonic in the current can be suppressed in the rotor fundamental rotation plane using a PIR resonant controller (i.e., adding a PR resonant controller to the original PI controller). The third harmonic current can be injected through a PIR resonant controller (i.e., adding a PR resonant controller to the original PI controller) or through feedforward injection.

[0144] In the specific implementation of step S101, if it is detected that both the stator winding and the rotor winding are open-circuited, the stator phase current and the rotor phase current are compensated respectively.

[0145] Step S102: Update the reference currents of the stator and rotor d-axis and q-axis respectively, so that the output torque of the dual armature flux switching motor remains unchanged before and after the winding is disconnected.

[0146] In practice, the reference currents of the stator and rotor d-axis can be updated according to different optimization objectives.

[0147] In one optional implementation, the d-axis and q-axis reference currents of the stator and rotor are updated according to the total copper loss of the dual-armature flux-switching motor. In a specific example, while ensuring that the output torque remains unchanged, the d-axis and q-axis reference currents of the stator and rotor are redistributed with the goal of minimizing the total copper loss of the dual-armature flux-switching motor.

[0148] In one optional implementation, the d-axis and q-axis reference currents of the stator and rotor are updated according to the copper loss of the open-circuit winding. In a specific example, while ensuring that the output torque remains unchanged, the d-axis and q-axis reference currents of the stator and rotor are redistributed with the optimization objective of keeping the copper loss of the open-circuit winding constant.

[0149] In one optional implementation, the d-axis and q-axis reference currents of the stator and rotor are updated according to the amplitude of the healthy phase current in the open-circuit winding. In a specific example, while ensuring that the output torque remains unchanged, the d-axis and q-axis reference currents of the stator and rotor are redistributed with the optimization objective of reducing the amplitude of the healthy phase current in the open-circuit winding.

[0150] by Figure 3 Taking the dual-armature flux-switching motor as an example, assuming the stator c-phase winding is open-circuited, the effect of stator phase current distortion is shown in Figure 7(a), the effect of rotor phase current distortion is shown in Figure 7(b), and the output torque fluctuation effect is shown in Figure 7(b). Figure 8 As shown.

[0151] Phase loss fault-tolerant operation can be equivalent to the fault phase current being 0. For example... Figure 9 As shown, the current vector distribution during single-phase operation can be understood as the superposition of the zero-sequence current (opposite to the fault phase current) and the three-phase current before the fault. As long as the motor does not contain a zero-sequence back electromotive force, the superimposed torque will not change because the zero-sequence current does not contribute to the output torque. The phase current i′ after the fault... a 、i′ b 、i′ c The zero-axis current i0 can be expressed as:

[0152]

[0153] Phase voltage u′ after phase loss an and u′ bn The following can be obtained by substituting the aforementioned phase loss current into the three-phase stator winding voltage equation:

[0154]

[0155] Among them, R s L is the phase resistance. aa and L bb These are the self-inductances of the stator windings, M and M, respectively. ab and M ba These are the mutual inductances of the stator windings, and L0 is the zero-axis inductance. Since L... aa +M ab +M ac =L0, the change in phase voltage Δu before and after the fault can be obtained by the following formula:

[0156] △u=u′ an -u an =u′ bn -u bn =-R s i c -L0di c / dt=u0

[0157] Since the zero-axis inductance L0 in the above formula is much smaller than the phase resistance R, s Therefore, the second term can be ignored. The zero-axis voltage u0 is actually equivalent to the change in phase voltage Δu.

[0158] Figure 10 This is a control block diagram for a dual-armature flux switching motor (DA-FSM) provided in this embodiment, where a single-phase stator winding is open-circuited and there is no stator third harmonic flux linkage. Figure 10 As shown, the second control quantities in the stator stationary coordinate system output by the decoupled vector control are u sa u sb u sc After injecting zero-sequence current, according to u sa +u0、u sb +u0 outputs SPWM to the first power converter connected to the stator phase a winding and phase b winding.

[0159] For the case where the stator c-phase winding is open-circuited and there is no stator third harmonic flux linkage, the stator phase currents after injecting only zero-sequence current are shown in Figure 11(a), with a residual healthy stator phase current amplitude of 12.5A. The rotor phase currents are shown in Figure 11(b), with a rotor current amplitude of 4.3A. The output torque is as follows... Figure 12 As shown, T s For stator torque, T r T is the rotor torque. em This represents the total output torque.

[0160] like Figure 10 As shown, for the case where the stator c-phase winding is open-circuited and there is no stator third harmonic flux linkage, after injecting zero-sequence current, the total copper loss P of the motor is switched by dual armature flux. cu Minimize the output torque T as the optimization objective. em Remaining unchanged, the d-axis and q-axis reference currents of the stator and rotor are redistributed:

[0161]

[0162]

[0163] In the case of a single-phase stator circuit failure i r =i rq To ensure the output torque T em The relationship between the stator and rotor currents can be obtained by solving the problem while keeping the current constant:

[0164]

[0165] Substituting the above current formula into P cu From the formula, we get:

[0166]

[0167] Analyzing the above formula, the total copper loss can be minimized when the current satisfies the following relationship:

[0168]

[0169] Based on the relationship between the stator and rotor currents described above, we can obtain:

[0170]

[0171] In such Figure 10 In the example shown, i is used * sd =0 and i * rd =0 vector control mode controls a dual-armature flux-switching motor, and after redistribution, the stator q-axis reference current is The stator phase current is shown in Figure 13(a), and the rotor q-axis reference current is... The rotor phase current diagram is shown in Figure 13(b). Among them, At this point, the total copper loss P of the dual-armature flux-switched motor cu =437.18W. Output torque is as follows: Figure 14 As shown, T s For stator torque, T r T is the rotor torque. em This represents the total output torque.

[0172] like Figure 10 As shown, for the case where the stator c-phase winding is open-circuited and there is no stator third harmonic flux linkage, after injecting zero-sequence current, the copper loss P of the stator winding is... cus The optimization objective remains unchanged, and the output torque T is maintained. em Remaining unchanged, the d-axis and q-axis reference currents of the stator and rotor are redistributed:

[0173]

[0174]

[0175] Where, i′ s This refers to the current in the remaining healthy phase after a single-phase open-circuit fault in the stator. It is determined based on the copper loss P of the stator winding. cus If it remains unchanged, we can obtain:

[0176]

[0177] In the case of a single-phase stator circuit failure i r =irq Substituting the aforementioned current relationship into the output torque T em The expression is used to ensure the output torque T. em Without changing the current, the redistributed current can be obtained as follows:

[0178]

[0179]

[0180] Figure 15 This is a control block diagram for a dual-armature flux switching motor in this embodiment, where a single-phase stator winding is open-circuited and a third harmonic flux linkage exists. For the case where the stator c-phase winding is open-circuited and a third harmonic flux linkage does not exist, zero-sequence current and third harmonic current are injected into the stator phase current.

[0181] The third harmonic back electromotive force, as a zero-sequence component, does not generate additional torque fluctuations during three-phase operation. However, during single-phase fault-tolerant operation, it interacts with the zero-sequence current after the fault to generate harmonic torque, thus affecting the motor's operating performance. Using the virtual displacement method, the output torque of a dual-armature flux-switching motor before and after a fault can be expressed as:

[0182]

[0183] Among them, i sa i sb i sc These represent the a, b, and c phase currents of the stator winding, respectively, e sa e sb e sc These represent the opposite electromotive forces of the stator windings a, b, and c, respectively.

[0184] To eliminate the second and fourth harmonic torques generated by the traditional current planning and the third harmonic back electromotive force, a third harmonic current is injected into the remaining two healthy phases, namely phase a and phase b. The third harmonic current to be injected is:

[0185]

[0186] Among them, i 31 and i 32 Let θ be the amplitude of the third harmonic current to be injected. 31 and θ 32 Let θ be the phase of the third harmonic current to be injected. e The angle between the stator's a-axis and d-axis. The additional torque ΔT generated by the injected third harmonic current. e The torque can be calculated using the following torque equation:

[0187]

[0188] Where ΔT0, ΔT2, ΔT4, and ΔT6 represent the average torque, second, fourth, and sixth harmonic torques generated by the injected third harmonic phase current, respectively. After injecting the third harmonic current, the overall electromagnetic torque T... e ′ can be represented as:

[0189]

[0190] Where T0′, T2′, T4′, and T6′ represent the overall average torque, second, fourth, and sixth harmonic torques after the injection of the third harmonic current, respectively. The injected third harmonic current interacts with the fundamental frequency back electromotive force to generate additional second and fourth harmonic torques. This embodiment utilizes this characteristic to counteract the original second and fourth harmonic torques. A coordinate transformation of the aforementioned third harmonic current to be injected yields... Figure 15 Reference values ​​for the third harmonic current injected into the d-axis and q-axis of the stator.

[0191] It should be noted that although the example of the above fault-tolerant control method is for the stator c-phase winding open circuit, it can also be applied to the case of stator a-phase winding and stator b-phase winding open circuit.

[0192] Figure 16 This is a control block diagram for a dual-armature flux-switching motor provided in this embodiment, where a single-phase rotor winding is open-circuited and there is no rotor third harmonic flux linkage. For the case where the rotor a-phase winding is open-circuited and there is no rotor third harmonic flux linkage, such as... Figure 16 As shown, the current i is controlled by a PIR resonant controller in the rotor fundamental rotation plane. rd and i rq The second harmonic is suppressed.

[0193] by Figure 3 Taking the dual-armature flux-switching motor as an example, assuming the rotor phase a winding is open-circuited, the effect of stator phase current distortion is shown in Figure 17(a), the effect of rotor phase current distortion is shown in Figure 17(b), and the output torque fluctuation effect is shown in Figure 17(b). Figure 18 As shown.

[0194] Figure 19 This is a control block diagram for a dual-armature flux-switching motor provided in this embodiment, showing a single-phase rotor winding open-circuit and the presence of rotor third harmonic flux linkage. Specifically, for the case where the rotor a-phase winding is open-circuited and the rotor third harmonic flux linkage exists, such as... Figure 19 As shown, a third harmonic current is injected into the rotor phase current through a PIR resonant controller.

[0195] After the rotor a-phase is disconnected, the full-dimensional Clark transformation matrix under the intact condition is reduced in order. The rows and columns related to the remaining disconnected phases are extracted to obtain the dimension-reduced matrix. Then, based on the orthogonality of the transformation matrix, correlation processing is performed on the dimension-reduced matrix to obtain the reduced-order decoupling matrix:

[0196]

[0197]

[0198] Since the fundamental plane and the third harmonic plane are no longer orthogonal after a circuit breaker fault, the two formulas above can be obtained respectively. The transformation matrices from the stationary coordinate system to the synchronous rotating coordinate system are as follows:

[0199]

[0200]

[0201] Based on the transformation matrix and the virtual displacement method described above, the following motor torque equation can be obtained:

[0202]

[0203]

[0204] Where T1(θ) = R4T4,

[0205] Substituting the motor flux linkage and current into the torque expression, we obtain the expressions for the harmonic torques after the rotor phase a is disconnected:

[0206]

[0207] Therefore, the current value that makes the torque ripple zero can be obtained:

[0208]

[0209] Based on the current in the rotating coordinate system described above, the reference value of the current in the stationary coordinate system can be obtained:

[0210]

[0211] Among them, I can be reallocated according to different optimization objectives. rq and i * sq .

[0212] Based on the above static coordinate system current and full-dimensional decoupling transformation matrix, the current reference value in the rotating coordinate plane can be calculated. The PIR resonant controller is used to track the current reference value in the fundamental plane and the third harmonic plane. The tracking results of PIR are shown in Figure 20(a)-(d), which can track the current reference value well.

[0213] In such Figure 19 In the example shown, i is used * sd The vector control mode with =0 controls the dual-armature flux-switching motor. After injecting the third harmonic current, the stator phase current is shown in Figure 21(a), and the rotor phase current is shown in Figure 21(b). The five-phase rotor current contains the third harmonic component, and the output torque is as follows. Figure 22 As shown, the pulsations of the second and fourth harmonic torques have been eliminated, where T s For stator torque, T r T is the rotor torque. em This represents the total output torque.

[0214] For the case where the rotor a-phase winding is open-circuited and there is a third harmonic flux linkage in the stator, after injecting the third harmonic current, the optimization objective is to reduce the amplitude of the healthy phase current in the rotor winding. The d-axis and q-axis reference currents of the stator and rotor are redistributed. The output torque equation of the motor after the rotor a-phase winding is open-circuited is:

[0215]

[0216] To ensure that the output torque fluctuation is zero after the rotor a-phase winding is disconnected, the rotor rotating coordinate system current i after the disconnection is... rq ′ and i rq3 ′ satisfies the following relationship:

[0217] i rq3 ′=-(3ψ mr3 / ψ mr1 )i rq ′

[0218] Therefore, after the circuit is broken, the remaining healthy phase current of the rotor winding and i rq To reduce the residual healthy phase current, it is only necessary to reduce i while maintaining the output torque constant. rq Then, simply recalculate the stator current.

[0219] It should be noted that although the example of the fault-tolerant control method mentioned above is for the rotor a-phase winding open circuit, it can also be applied to the case of rotor b, c, d, and e-phase winding open circuit.

[0220] In this embodiment, during the decoupling vector control of the dual-armature flux-switching motor, if a stator winding open circuit is detected, the stator phase current is compensated; if a rotor winding open circuit is detected, the rotor phase current is compensated. This algorithm, which compensates for the phase current when the winding is open, has good dynamic performance and steady-state accuracy. Furthermore, by redistributing the stator and rotor currents, the output torque of the dual-armature flux-switching motor remains constant before and after the winding is open, thus avoiding the problem of large fluctuations in motor output torque caused by winding open circuits, which affects the motor's lifespan.

[0221] This embodiment also provides a fault-tolerant control system for a dual-armature flux-switching motor, including a current compensation module and a current update module.

[0222] The current compensation module is used to compensate for the phase current corresponding to the open-circuit winding if an open circuit is detected in the stator winding and / or the rotor winding during the decoupling vector control of the dual armature flux switching motor based on the d-axis and q-axis reference currents of the stator and rotor.

[0223] In one optional implementation, the current compensation module is specifically used to inject zero-sequence current into the stator phase current when a stator single-phase winding open circuit is detected and there is no stator third harmonic flux linkage; and to inject zero-sequence current and third harmonic current into the stator phase current when a stator single-phase winding open circuit is detected and there is stator third harmonic flux linkage.

[0224] In one optional embodiment, the current compensation module is specifically used to suppress the second harmonic in the current of the rotor fundamental rotating plane when a single-phase winding of the rotor is detected to be open and there is no rotor third harmonic flux linkage; and to inject third harmonic current into the rotor phase current when a single-phase winding of the rotor is detected to be open and there is rotor third harmonic flux linkage.

[0225] The current update module is used to update the reference currents of the stator and rotor on the d-axis and q-axis respectively, so that the output torque of the dual armature flux switching motor remains unchanged before and after the winding is disconnected.

[0226] In one optional implementation, the current update module is specifically used to update the d-axis and q-axis reference currents of the stator and rotor according to the total copper loss of the dual armature flux switching motor, or to update the d-axis and q-axis reference currents of the stator and rotor according to the copper loss of the open-circuit winding, or to update the d-axis and q-axis reference currents of the stator and rotor according to the amplitude of the healthy phase current in the open-circuit winding.

[0227] In one optional embodiment, the fault-tolerant control system further includes a current acquisition module, a first coordinate transformation module, a reference voltage calculation module, a feedforward voltage calculation module, a decoupling module, a second coordinate transformation module, and a control module.

[0228] The current acquisition module is used to acquire the stator and rotor currents of the dual armature flux switching motor.

[0229] The first coordinate transformation module is used to perform coordinate transformation on the stator and rotor currents respectively to obtain the actual d-axis current and the actual q-axis current in the stator and rotor synchronous rotation coordinate system.

[0230] The reference voltage calculation module is used to calculate the d-axis reference voltage of the stator and rotor based on the difference between the d-axis reference current and the actual d-axis current of the stator and rotor, and to calculate the q-axis reference voltage of the stator and rotor based on the difference between the q-axis reference current and the actual q-axis current of the stator and rotor.

[0231] The feedforward voltage calculation module is used to calculate the d-axis and q-axis feedforward voltages of the stator and rotor based on the speed of the dual armature flux switching motor and the actual d-axis and q-axis currents of the stator and rotor, respectively.

[0232] The decoupling module is used to calculate the first control quantity in the synchronous rotating coordinate system of the stator and rotor based on the reference voltages of the d-axis and q-axis of the stator and rotor, the decoupling matrix, and the feedforward voltages of the d-axis and q-axis of the stator and rotor, respectively. The decoupling matrix is ​​determined based on the inductance of the dual armature flux switching motor in the synchronous rotating coordinate system.

[0233] The second coordinate transformation module is used to perform coordinate transformation on the first control quantity in the synchronous rotating coordinate system of the stator and rotor to obtain the second control quantity in the stationary coordinate system of the stator and rotor.

[0234] The control module is used to control the dual armature flux switching motor according to the second control quantity in the stator and rotor stationary coordinate system.

[0235] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A fault-tolerant control method for a dual-armature flux-switching motor, characterized in that, The dual-armature flux-switching motor includes stator windings and rotor windings, and the fault-tolerant control method includes the following steps: During the decoupling vector control of the dual armature flux switching motor based on the d-axis and q-axis reference currents of the stator and rotor, if an open circuit is detected in the stator winding and / or the rotor winding, the phase current corresponding to the open circuit winding is compensated. The reference currents of the stator and rotor along the d-axis and q-axis are updated respectively to ensure that the output torque of the dual armature flux switching motor remains constant before and after the winding is disconnected. The step of compensating the phase current corresponding to the open-circuit winding if the stator winding is detected specifically includes: if an open circuit of a single-phase stator winding is detected and there is no stator third harmonic flux linkage, then inject zero-sequence current into the stator phase current; if an open circuit of a single-phase stator winding is detected and there is stator third harmonic flux linkage, then inject zero-sequence current and third harmonic current into the stator phase current. The step of compensating the phase current corresponding to the open-circuit winding if the rotor winding is detected specifically includes: if a single-phase rotor winding is detected to be open-circuited and there is no rotor third harmonic flux linkage, then the second harmonic in the current of the rotor fundamental rotation plane is suppressed; if a single-phase rotor winding is detected to be open-circuited and there is rotor third harmonic flux linkage, then the third harmonic current is injected into the rotor phase current.

2. The fault-tolerant control method as described in claim 1, characterized in that, The steps of updating the d-axis and q-axis reference currents of the stator and rotor respectively specifically include: The reference currents for the stator and rotor d-axis and q-axis are updated based on the total copper loss of the dual-armature flux-switching motor, respectively; or... The reference currents for the stator and rotor along the d-axis and q-axis are updated based on the copper loss of the open-circuit winding, respectively; or... The reference currents for the d-axis and q-axis of the stator and rotor are updated based on the amplitude of the healthy phase current in the open-circuit winding.

3. The fault-tolerant control method as described in any one of claims 1-2, characterized in that, The step of performing decoupled vector control of the dual armature flux switching motor based on the d-axis and q-axis reference currents of the stator and rotor specifically includes: Obtain the stator and rotor currents of the dual armature flux switching motor; The stator and rotor currents are transformed by coordinate transformation to obtain the actual d-axis current and q-axis current in the stator and rotor synchronous rotation coordinate system. The d-axis reference voltage of the stator and rotor is calculated based on the difference between the d-axis reference current and the actual d-axis current of the stator and rotor, respectively; and the q-axis reference voltage of the stator and rotor is calculated based on the difference between the q-axis reference current and the actual q-axis current of the stator and rotor, respectively. The feedforward voltages of the stator and rotor along the d-axis and q-axis are calculated based on the rotational speed of the dual armature flux switching motor and the actual currents of the stator and rotor along the d-axis and q-axis, respectively. The first control quantity in the synchronous rotating coordinate system of the stator and rotor is calculated based on the reference voltages of the d-axis and q-axis of the stator and rotor, the decoupling matrix, and the feedforward voltages of the d-axis and q-axis of the stator and rotor, respectively. The decoupling matrix is ​​determined based on the inductance of the dual armature flux switching motor in the synchronous rotating coordinate system. The first control quantity in the synchronous rotating coordinate system of the stator and rotor is transformed to obtain the second control quantity in the stationary coordinate system of the stator and rotor. The dual armature flux switching motor is controlled according to the second control quantity in the stator and rotor stationary coordinate system.

4. A fault-tolerant control system for a dual-armature flux-switching motor, characterized in that, The dual-armature flux-switching motor includes stator windings and rotor windings, and the control system includes: The current compensation module is used to compensate the phase current corresponding to the open-circuit winding if an open circuit is detected in the stator winding and / or the rotor winding during the decoupling vector control of the dual armature flux switching motor based on the d-axis and q-axis reference currents of the stator and rotor. The current update module is used to update the reference currents of the stator and rotor on the d-axis and q-axis respectively, so that the output torque of the dual armature flux switching motor remains unchanged before and after the winding is disconnected. The current compensation module is specifically used to inject zero-sequence current into the stator phase current when a stator single-phase winding open circuit is detected and there is no stator third harmonic flux linkage; and to inject zero-sequence current and third harmonic current into the stator phase current when a stator single-phase winding open circuit is detected and there is stator third harmonic flux linkage. The current compensation module is specifically used to suppress the second harmonic in the current of the rotor fundamental rotating plane when a single-phase winding of the rotor is detected to be open and there is no rotor third harmonic flux linkage; and to inject third harmonic current into the rotor phase current when a single-phase winding of the rotor is detected to be open and there is rotor third harmonic flux linkage.

5. The fault-tolerant control system as described in claim 4, characterized in that, The current update module is specifically used to update the d-axis and q-axis reference currents of the stator and rotor according to the total copper loss of the dual armature flux switching motor, or to update the d-axis and q-axis reference currents of the stator and rotor according to the copper loss of the open-circuit winding, or to update the d-axis and q-axis reference currents of the stator and rotor according to the amplitude of the healthy phase current in the open-circuit winding.

6. The fault-tolerant control system as described in any one of claims 4-5, characterized in that, The fault-tolerant control system also includes: A current acquisition module is used to acquire the stator and rotor currents of the dual armature flux switching motor. The first coordinate transformation module is used to perform coordinate transformation on the stator and rotor currents respectively to obtain the actual d-axis current and the actual q-axis current in the stator and rotor synchronous rotation coordinate system. The reference voltage calculation module is used to calculate the d-axis reference voltage of the stator and rotor based on the difference between the d-axis reference current and the actual d-axis current of the stator and rotor, and to calculate the q-axis reference voltage of the stator and rotor based on the difference between the q-axis reference current and the actual q-axis current of the stator and rotor. The feedforward voltage calculation module is used to calculate the d-axis and q-axis feedforward voltages of the stator and rotor based on the speed of the dual armature flux switching motor and the actual d-axis and q-axis currents of the stator and rotor, respectively. The decoupling module is used to calculate the first control quantity in the synchronous rotating coordinate system of the stator and rotor based on the reference voltages of the d-axis and q-axis of the stator and rotor, the decoupling matrix, and the feedforward voltages of the d-axis and q-axis of the stator and rotor, respectively. The decoupling matrix is ​​determined based on the inductance of the dual armature flux switching motor in the synchronous rotating coordinate system. The second coordinate transformation module is used to perform coordinate transformation on the first control quantity in the synchronous rotating coordinate system of the stator and rotor to obtain the second control quantity in the stationary coordinate system of the stator and rotor. The control module is used to control the dual armature flux switching motor according to the second control quantity in the stator and rotor stationary coordinate system.

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