A rotor flux harmonic d-q modeling method based on Y-shifted 0° dual three-phase motors

Abstract

The present invention relates to the technical field of the electric power steering system of an automobile, and specifically relates to a rotor flux harmonic d-q modeling method based on a Y-shifted 0° dual-three-phase motor. A rotor flux harmonic d-q modeling method based on a Y-shifted 0° dual-three-phase motor. Compared with the prior art, a rotor flux harmonic d-q modeling method based on a Y-shifted 0° dual-three-phase motor is provided, and an independent fundamental wave and harmonic wave model is adopted to construct a mathematical model of a Y-shifted 0° dual-three-phase permanent magnet synchronous motor based on rotor flux harmonics, revealing the corresponding relationship between the interaction of space-time harmonics in generating motor torque ripple.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power steering systems for automobiles, and more specifically, to a rotor flux harmonic d-q modeling method based on a Y-shifted 0° dual three-phase motor. Background Art

[0002] Currently, the automotive industry is developing rapidly, and the degree of automotive electrification is getting higher and higher. Consumers have higher and higher requirements for the driving experience of automobiles. The EPS (Electric Power Steering) system is a power steering system that directly relies on a motor to provide auxiliary torque. It requires the system to have low noise, and the dynamic and static output torques of the motor drive system have the characteristics of small pulsation, while also taking into account requirements such as high system reliability. The Y-shifted 0° dual three-phase permanent magnet synchronous motor will have a wider and wider application in the EPS system due to its simple structure and high safety level. Figure 1 Fig. is the inverter drive topology diagram of the Y-shifted 0° dual three-phase permanent magnet synchronous motor with neutral point isolation.

[0003] Due to the special requirements of the EPS system for the motor output torque, constructing a high-precision motor mathematical model of the Y-shifted 0° dual three-phase permanent magnet synchronous motor, especially a high-precision motor mathematical model based on rotor flux harmonics, has particularly important significance. The rotor flux harmonic motor mathematical model can reveal the essence of the interaction between current time harmonics and stator air-gap space flux harmonic models, and can better suppress motor torque pulsation. However, a suitable harmonic model of the Y-shifted 0° dual three-phase permanent magnet synchronous motor based on the rotor flux harmonic model has not been established. In particular, the electromagnetic torque mathematical model that reveals the spatio-temporal harmonic relationship, and the mathematical model of the Y-shifted 0° dual three-phase permanent magnet synchronous motor without considering the action of rotor flux harmonics is difficult to reveal the essential reason for the motor pulsation torque generated after the interaction of spatio-temporal harmonics, which has an adverse effect on motor torque pulsation suppression. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a rotor flux harmonic d-q modeling method based on a Y-shifted 0° dual three-phase motor, which constructs a mathematical model of the Y-shifted 0° dual three-phase permanent magnet synchronous motor based on rotor flux harmonics by using independent fundamental wave and harmonic models, and reveals the corresponding relationship of the interaction of spatio-temporal harmonics in generating motor torque pulsation.

[0005] To achieve the above object, a rotor flux harmonic d-q modeling method based on a Y-shifted 0° dual three-phase motor is designed, and its characteristics are as follows: The specific method process is as follows:

[0006] Step 1: Calculate the harmonic voltages u d1h and u d2h according to the current fundamental wave voltage of the motor, the motor speed, position, motor model parameters, and harmonic flux parameters.

[0007] Step 2: Calculate the fundamental current \(i\) based on the fundamental mathematical model of the motor and the fundamental voltage d1 、\(i\) q1 、\(i\) d2 、\(i\) q2 ;

[0008] Step 3: Calculate the harmonic current \(i\) based on the harmonic mathematical model of the motor and the harmonic voltage d1h 、\(i\) q1h 、\(i\) d2h 、\(i\) q2h ;

[0009] Step 4: Calculate the fundamental torque \(T\) based on the fundamental current e1 ;

[0010] Step 5: Calculate the harmonic torque \(T\) based on the fundamental current and the harmonic current e2 、\(T\) e3 、\(T\) e4 ;

[0011] Step 6: Calculate the electromagnetic torque \(T\) of the motor system based on the fundamental torque and the harmonic torque eo ;

[0012] Step 7: Calculate the output current \(i\) of the motor system based on the fundamental current and the harmonic current d1o 、\(i\) q1o 、\(i\) d2o 、\(i\) q2o ;

[0013] Step 8: Calculate the stator flux linkage of the motor and the output six-phase current \(i\) of the motor system based on the fundamental current, the harmonic current, and the motor model parameters

[0014] and the output six-phase current \(i\) of the motor system a 、\(i\) b 、\(i\) c 、\(i\) u 、\(i\) v 、\(i\) w .

[0015] Calculate the fundamental current values \(i\) d1 (k), \(i\) q1 (k) of the d1 and q1 axes of the current beat and the fundamental current values \(i\) d2 (k), \(i\) q2 (k) of the d2 and q2 axes of the current beat according to the fundamental voltage of the previous beat of the motor, the motor speed, the motor model parameters, and the fundamental current mathematical model of the motor. The specific formula is

[0016]

[0017] where i d1 (k), i q1 (k) are the fundamental currents of the d1 and q1 axes at time k; i d1 (k - 1), i d2 (k - 1) are the fundamental currents of the d1 and d2 axes at time k - 1; i q1 (k - 1), i q2 (k - 1) are the fundamental currents of the q1 and q2 axes at time k - 1; u d1 (k - 1), u d2 (k - 1) are the fundamental voltages of the d1 and d2 axes at time k - 1; u d1 (k - 1), u d2 (k - 1) are the fundamental voltages of the d1 and d2 axes at time k - 1; ω e (k - 1) is the electrical speed of the motor at time k - 1; L dd is the mutual inductance between the d1 and d2 axes; L qq is the mutual inductance between the q1 and q2 axes; L d is the self - inductance of the d - axis in the double - dq rotating coordinate system; L q is the self - inductance of the q - axis in the double - dq rotating coordinate system; ψ f is the amplitude of the rotor flux linkage; R s is the resistance of the motor stator winding; T s is the system sampling time.

[0018] According to the motor speed, motor model parameters, position of the previous cycle of the motor, and the recorded and stored harmonic voltages u d1h (k - 1), u d2h (k - 1), u q1h (k - 1), u q2h (k - 1) of the previous cycle, and then calculate the harmonic currents i d1h (k), i q1h (k) of the d1 and q1 axes and the harmonic currents i d2h (k), i q2h (k) of the d2 and q2 axes of the current cycle according to the motor harmonic current mathematical model. The specific formula is

[0019]

[0020] where i d1h (k), i q1h (k) are the harmonic currents of the d1 and q1 axes at time k; i d1h (k - 1), i d2h (k - 1) are the harmonic currents of the d1 and d2 axes at time k - 1; i q1h (k - 1), i q2h(k - 1) is the fundamental current on the q1 and q2 axes at time k - 1; u d1h (k - 1), u d2h (k - 1) is the harmonic voltage on the d1 and d2 axes at time k - 1; u q1h (k - 1), u q2h (k - 1) is the harmonic voltage on the q1 and q2 axes at time k - 1; ω e (k - 1) is the electrical speed of the motor at time k - 1; L dd is the mutual inductance between the d1 and d2 axes; L qq is the mutual inductance between the q1 and q2 axes; L d is the self - inductance of the d - axis in the double dq rotating coordinate system; L q is the self - inductance of the q - axis in the double dq rotating coordinate system; R s is the resistance of the motor stator winding; T s is the system sampling time.

[0021] The harmonic voltage u d1h (k - 1), u d2h (k - 1), u q1h (k - 1), u q2h (k - 1) is calculated as follows:

[0022]

[0023] where, θ e (k - 1) is the electrical angle of the motor at time k - 1;

[0024] is the amplitude of the harmonic flux linkage of each order.

[0025] According to the fundamental current i d1 、i q1 、i d2 、i q2 and the harmonic current i d1h 、i q1h 、i d2h 、i q2h Calculate the fundamental torque T e1 and the harmonic torque T e2 、T e3 、T e4 , the specific formula is

[0026]

[0027]

[0028]

[0029] Among them, n p is the number of pole pairs of the motor; i d1 (k), i q1 (k) are the fundamental current components of the d1 and q1 axes at the kth moment; i d2 (k) and i q2 (k) are the fundamental current components of the d2 and q2 axes at the kth moment; i d1h (k), i q1h (k) are the harmonic current components of the d1 and q1 axes at the kth moment; i d2h (k) and i q2h (k) are the harmonic current components of the d2 and q2 axes at the kth moment; θ e (k) is the electrical angle of the motor at the kth moment; ψ f is the rotor permanent magnet flux linkage; is the amplitude of the harmonic flux linkage of each order; L dd is the mutual inductance between the d1 and d2 axes; L qq is the mutual inductance between the q1 and q2 axes; L d is the self-inductance of the d axis of the double dq rotating coordinate system; L q is the self-inductance of the q axis of the double dq rotating coordinate system.

[0030] Calculate the electromagnetic torque T of the system eo and the output currents i d1o , i q1o , i d2o , i q2o of the d1-q1 rotating coordinate system and the d2-q2 rotating coordinate system of the motor. The specific formula is T eo (k) = T e1 (k) + T e2 (k) + T e3 (k) + T e4 (k); i d1o (k) = i d1 (k) + i d1h (k); where, T e1 is the fundamental torque; T e2 , T e3 , T e4 are the harmonic torques; T eo is the output electromagnetic torque of the motor; i d1 (k) is the fundamental current of the d1 axis; i d1h (k) is the harmonic current of the d1 axis; i d1o (k) is the output current of the d1 axis.

[0031] Calculate the output six-phase currents i a , i b , i c , i u , iv , i w and the stator flux linkage of the motor The specific formula is [i a (k)i b (k)i c (k)i u (k)i v (k)i w (k)] T = T 2r_6s · [i d1o (k)i q1o (k)i d2o (k)i q2o (k)] T ;

[0032] Among them,

[0033]

[0034]

[0035] Among them, is the stator flux linkage of the d1 and q1 axes in the d1-q1 rotating coordinate system at time k; i d1 (k), i q1 (k) are the fundamental current components of the d1 and q1 axes at time k; i d2 (k) and i q2 (k) are the fundamental current components of the d2 and q2 axes at time k; i d1h (k), i q1h (k) are the harmonic current components of the d1 and q1 axes at time k; i d2h (k) and i q2h (k) are the harmonic current components of the d2 and q2 axes at time k; θ e (k) is the electrical angle of the motor at time k; ψ f is the rotor permanent magnet flux linkage; is the amplitude of the harmonic flux linkage of each order; L dd is the mutual inductance between the d1 and d2 axes; L qq is the mutual inductance between the q1 and q2 axes; L d is the self-inductance of the d axis in the double dq rotating coordinate system; L q is the self-inductance of the q axis in the double dq rotating coordinate system.

[0036] Compared with the prior art, the present invention provides a rotor flux harmonic d-q modeling method for a Y-shifted 0° dual three-phase motor, and constructs a mathematical model of a Y-shifted 0° dual three-phase permanent magnet synchronous motor based on rotor flux harmonics by using independent fundamental and harmonic models, revealing the corresponding relationship between the interaction of space-time harmonics in generating motor torque ripple.

[0037] By fully considering the harmonic orders of the magnetic flux linkage, through constructing independent electrical equations and mathematical models of the fundamental wave and harmonics of the electromagnetic torque, the contribution of current time harmonics and magnetic flux linkage space harmonics to the pulsation of the motor output electromagnetic torque is revealed, that is, by analyzing the pulsating electromagnetic torque signals generated by each model, the pulsation of the motor output torque can be better suppressed. Description of the Drawings

[0038] Figure 1 It is the inverter drive topology diagram of the neutral point isolated Y-shifted 0° dual three-phase permanent magnet synchronous motor.

[0039] Figure 2 It is the spatial structure diagram of the stator winding of the Y-shifted 0° dual three-phase permanent magnet synchronous motor.

[0040] Figure 3 It is the flow chart of the modeling method of the present invention. Detailed Embodiment

[0041] The present invention will be further described below with reference to the drawings.

[0042] The content of the present invention is as Figure 3 shown as follows:

[0043] 1. Calculate the fundamental wave current values i d1 (k), i q1 (k) of the d1 and q1 axes of the current beat and the fundamental wave current values i d2 (k), i q2 (k) of the d2 and q2 axes of the current beat based on the fundamental wave voltage of the previous beat of the motor, the motor speed, the motor model parameters and the fundamental wave current mathematical model of the motor. The calculation of the fundamental wave currents i d1 (k) and i q1 (k) is shown in Formulas 1 to 2:

[0044]

[0045]

[0046]

[0047] Among them, i d1 (k), i q1 (k) are the fundamental wave currents of the d1 and q1 axes at the kth moment; i d1 (k - 1), i d2 (k - 1) are the fundamental wave currents of the d1 and d2 axes at the (k - 1)th moment; i q1 (k - 1), i q2 (k - 1) are the fundamental wave currents of the q1 and q2 axes at the (k - 1)th moment; u d1 (k - 1), u d2(k - 1) is the fundamental voltage of the d1 and d2 axes at time k - 1; u d1 (k - 1), u d2 (k - 1) is the fundamental voltage of the d1 and d2 axes at time k - 1; ω e (k - 1) is the electrical speed of the motor at time k - 1; L dd is the mutual inductance between the d1 and d2 axes; L qq is the mutual inductance between the q1 and q2 axes; L d is the self - inductance of the d - axis in the double dq rotating coordinate system; L q is the self - inductance of the q - axis in the double dq rotating coordinate system; ψ f is the amplitude of the rotor flux linkage; R s is the resistance of the motor stator winding; T s is the system sampling time.

[0048] 2. According to the motor speed, motor model parameters, position of the previous beat of the motor, and the harmonic voltage u d1h (k - 1), u d2h (k - 1), u q1h (k - 1), u q2h (k - 1) recorded and stored in the previous beat, and then calculate the harmonic currents i d1h (k), i q1h (k) of the d1 and q1 axes and the harmonic currents i d2h (k), i q2h (k) of the d2 and q2 axes at the current beat. Calculate the harmonic currents i d1h (k) and i q1h (k) according to the formulas shown in Formulas 3 to 6:

[0049]

[0050]

[0051] Among them, the calculation methods of the harmonic voltages u d1h (k - 1), u d2h (k - 1), u q1h (k - 1), u q2h (k - 1) are as follows:

[0052]

[0053]

[0054] Among them, i d1h (k), i q1h (k) are the harmonic currents of the d1 and q1 axes at time k; i d1h (k - 1), i d2h(k - 1) is the harmonic current of d1 and d2 axes at the (k - 1)th moment; i q1h (k - 1), i q2h (k - 1) is the fundamental current of q1 and q2 axes at the (k - 1)th moment; u d1h (k - 1), u d2h (k - 1) is the harmonic voltage of d1 and d2 axes at the (k - 1)th moment; u q1h (k - 1), u q2h (k - 1) is the harmonic voltage of q1 and q2 axes at the (k - 1)th moment; ω e (k - 1) is the electrical rotational speed of the motor at the (k - 1)th moment; θ e (k - 1) is the electrical angle of the motor at the (k - 1)th moment; L dd is the mutual inductance between d1 and d2 axes; L qq is the mutual inductance between q1 and q2 axes; L d is the self - inductance of the d - axis in the double - dq rotating coordinate system; L q is the self - inductance of the q - axis in the double - dq rotating coordinate system; is the amplitude of the harmonic flux linkage of each order; R s is the resistance of the motor stator winding; T s is the system sampling time.

[0055] 3. Calculate the fundamental torque T d1 , i q1 , i d2 , i q2 and the harmonic torque T d1h , i q1h , i d2h , i q2h of the current beat according to the fundamental current i e1 and harmonic current i e2 , T e3 , T e4 , as shown in Formulas 7 to 10:

[0056]

[0057]

[0058]

[0059]

[0060]

[0061] where, n p is the number of pole pairs of the motor; i d1 (k), i q1 (k) are the fundamental current components of d1 and q1 axes at the kth moment; i d2 (k) and iq2 (k) is the fundamental current component of the d2 and q2 axes at time k; i d1h (k), i q1h (k) are the harmonic current components of the d1 and q1 axes at time k; i d2h (k) and i q2h (k) are the harmonic current components of the d2 and q2 axes at time k; θ e (k) is the electrical angle of the motor at time k; ψ f is the rotor permanent magnet flux linkage; is the amplitude of the harmonic flux linkage of each order; L dd is the mutual inductance between the d1 and d2 axes; L qq is the mutual inductance between the q1 and q2 axes; L d is the self-inductance of the d axis in the double dq rotating coordinate system; L q is the self-inductance of the q axis in the double dq rotating coordinate system.

[0062] 4. Calculate the system electromagnetic torque T eo and the output currents i d1o , i q1o , i d2o , i q2o . Calculate the expressions of T eo , i d1o as shown in Formulas 11 to 12:

[0063] T eo (k) = T e1 (k) + T e2 (k) + T e3 (k) + T e4 (k) (11);

[0064] i d1o (k) = i d1 (k) + i d1h (k) (12); where, T e1 is the fundamental torque; T e2 , T e3 , T e4 are the harmonic torques; T eo is the output electromagnetic torque of the motor; i d1 (k) is the fundamental current of the d1 axis; i d1h (k) is the harmonic current of the d1 axis; i d1o (k) is the output current of the d1 axis.

[0065] 5. Calculate the output six-phase currents i a , i b , i c , i u, i v , i w and the motor stator flux linkage The expressions of six-phase current and flux linkage are shown in Formulas 13 to 15 as follows:

[0066] [i a (k)i b (k)i c (k)i u (k)i v (k)i w (k)] T = T 2r_6s ·[i d1o (k)i q1o (k)i d2o (k)i q2o (k)] T (13);

[0067] Wherein,

[0068]

[0069]

[0070] Wherein, is the stator flux linkage of the d1 and q1 axes in the d1-q1 rotating coordinate system at time k; i d1 (k), i q1 (k) are the fundamental current components of the d1 and q1 axes at time k; i d2 (k) and i q2 (k) are the fundamental current components of the d2 and q2 axes at time k; i d1h (k), i q1h (k) are the harmonic current components of the d1 and q1 axes at time k; i d2h (k) and i q2h (k) are the harmonic current components of the d2 and q2 axes at time k; θ e (k) is the electrical angle of the motor at time k; ψ f is the rotor permanent magnet flux linkage; is the amplitude of the harmonic flux linkage of each order; L dd is the mutual inductance between the d1 and d2 axes; L qq is the mutual inductance between the q1 and q2 axes; L d is the self-inductance of the d axis in the double dq rotating coordinate system; L q is the self-inductance of the q axis in the double dq rotating coordinate system.

[0071] By fully considering the harmonic orders of the magnetic flux, through constructing independent electrical equations and mathematical models of the fundamental wave and harmonics of the electromagnetic torque, the contribution of current time harmonics and magnetic flux space harmonics to the pulsation of the motor output electromagnetic torque is revealed. That is, by analyzing the pulsating electromagnetic torque signals generated by each model, the pulsation of the motor output torque can be better suppressed.

Claims

1. A rotor flux harmonic d-q modeling method based on a Y-shifted 0° dual three-phase motor, characterized in that: The specific method process is as follows: Step 1: Calculate the harmonic voltages u d1h and u d2h according to the current fundamental voltage of the motor, the motor speed, the position, the motor model parameters, and the harmonic magnetic flux linkage parameters. Step 2: Calculate the fundamental currents \(i_{ d1}\), \(i_{ q1}\), \(i_{ d2}\), \(i_{ q2}\) according to the fundamental mathematical model of the motor and the fundamental voltage; d1 , \(i_{ q1}\) q1 , \(i_{ d2}\) d2 , \(i_{ q2}\) q2 ; Step 3: Calculate harmonic currents \(i_{ d1h}\), \(i_{ q1h}\), \(i_{ d2h}\), \(i_{ q2h}\) according to the motor harmonic mathematical model and harmonic voltage; d1h and \(i_{ d1h}\) q1h and \(i_{ q1h}\) d2h and \(i_{ d2h}\) q2h ; Step 4: Calculate the fundamental torque T based on the fundamental current e1 ; Step Five: Calculate the harmonic torques T e2 , T e3 , T e4 ; Step Six: Calculate the electromagnetic torque T of the motor system based on the fundamental wave torque and the harmonic torque eo ; Step Seven: Calculate the output current i of the motor system based on the fundamental wave current and harmonic current d1o 、i q1o 、i d2o 、i q2o ; Step 8: Calculate the stator flux linkage of the motor based on the fundamental current, harmonic current, and motor model parameters and the six-phase current i a 、i b 、i c 、i u 、i v 、i w ; Calculate the fundamental current values \(i_{d1}(k)\) and \(i_{q1}(k)\) of the current cycle on the d1 and q1 axes, and the fundamental currents \(i_{d2}(k)\) and \(i_{q2}(k)\) of the current cycle on the d2 and q2 axes according to the fundamental voltage of the previous cycle of the motor, the motor speed, the motor model parameters, and the mathematical model of the fundamental current of the motor. The specific formula is as follows d1 (k), \(i\) q1 (k) and the fundamental currents \(i_{d2}\) d2 (k), \(i\) q2 (k), and the specific formula is where i d1 (k), i q1 (k) are the fundamental currents of the d1 and q1 axes at time k; i d1 (k - 1), i d2 (k - 1) are the fundamental currents of the d1 and d2 axes at time k - 1; i q1 (k - 1), i q2 (k - 1) are the fundamental currents of the q1 and q2 axes at time k - 1; u d1 (k - 1), u d2 (k - 1) are the fundamental voltages of the d1 and d2 axes at time k - 1; u d1 (k - 1), u d2 (k - 1) are the fundamental voltages of the d1 and d2 axes at time k - 1; ω e (k - 1) is the electrical speed of the motor at time k - 1; L dd is the mutual inductance between the d1 and d2 axes; L qq is the mutual inductance between the q1 and q2 axes; L d is the self - inductance of the d - axis in the double - dq rotating coordinate system; L q is the self - inductance of the q - axis in the double - dq rotating coordinate system; ψ f is the amplitude of the rotor flux linkage; R s is the resistance of the motor stator winding; T s is the system sampling time; According to the motor speed, motor model parameters, position of the previous beat of the motor, and the recorded and stored harmonic voltages u d1h (k - 1), u d2h (k - 1), u q1h (k - 1), u q2h (k - 1), and then calculate the harmonic currents i d1h (k), i q1h (k) on the d1 and q1 axes of the current beat and the harmonic currents i d2h (k), i q2h (k) on the d2 and q2 axes of the current beat. The specific formula is where i d1h (k), i q1h (k) are the harmonic currents on the d1 and q1 axes at time k; i d1h (k - 1), i d2h (k - 1) are the harmonic currents on the d1 and d2 axes at time k - 1; i q1h (k - 1), i q2h (k - 1) are the fundamental currents on the q1 and q2 axes at time k - 1; u d1h (k - 1), u d2h (k - 1) are the harmonic voltages on the d1 and d2 axes at time k - 1; u q1h (k - 1), u q2h (k - 1) are the harmonic voltages on the q1 and q2 axes at time k - 1; ω e (k - 1) is the electrical speed of the motor at time k - 1; L dd is the mutual inductance between the d1 and d2 axes; L qq is the mutual inductance between the q1 and q2 axes; L d is the self - inductance of the d - axis in the double - dq rotating coordinate system; L q is the self - inductance of the q - axis in the double - dq rotating coordinate system; R s is the resistance of the motor stator winding; T s is the system sampling time; Calculate the six-phase current i output by the current beat motor system a , i b , i c , i u , i v , i w and the stator magnetic flux of the motor The specific formula is [i a (k) i b (k) i c (k) i u (k) i v (k) i w (k)] T =T 2r_6s ·[i d1o (k) i q1o (k) i d2o (k) i q2o (k)] T ; Among them, Among them, are the stator flux linkages of the d1 and q1 axes in the d1-q1 rotating coordinate system at time k; i d1 (k) and i q1 (k) are the fundamental current components of the d1 and q1 axes at time k; i d2 (k) and i q2 (k) are the fundamental current components of the d2 and q2 axes at time k; i d1h (k), i q1h (k) are the harmonic current components of the d1 and q1 axes at time k; i d2h (k) and i q2h (k) are the harmonic current components of the d2 and q2 axes at time k; θ e (k) is the electrical angle of the motor at time k; ψ f is the rotor permanent magnet flux linkage; are the amplitudes of the harmonic flux linkages of each order; L dd is the mutual inductance between the d1 and d2 axes; L qq is the mutual inductance between the q1 and q2 axes; L d is the self-inductance of the d axis in the double dq rotating coordinate system; L q is the self-inductance of the q axis in the double dq rotating coordinate system.

2. A rotor flux harmonic d-q modeling method for a Y-shifted 0° dual three-phase motor according to claim 1, characterized in that: The harmonic voltage u d1h (k - 1), u d2h (k - 1), u q1h (k - 1), u q2h (k - 1) is calculated as follows: Among them, θ e (k - 1) is the electrical angle of the motor at time k - 1; are the amplitudes of the harmonic flux linkages for each order.

3. A rotor flux harmonic d-q modeling method for a Y-shifted 0° dual three-phase motor according to claim 1, characterized in that: According to the current fundamental wave current i d1 、i q1 、i d2 、i q2 and the current harmonic wave current i d1h 、i q1h 、i d2h 、i q2h calculate the current fundamental wave torque T e1 and the harmonic wave torque T e2 、T e3 、T e4 , and the specific formula is where n p is the number of pole pairs of the motor; i d1 (k), i q1 (k) are the fundamental current components of the d1 and q1 axes at the k-th moment; i d2 (k) and i q2 (k) are the fundamental current components of the d2 and q2 axes at the k-th moment; i d1h (k), i q1h (k) are the harmonic current components of the d1 and q1 axes at the k-th moment; i d2h (k) and i q2h (k) are the harmonic current components of the d2 and q2 axes at the k-th moment; θ e (k) is the electrical angle of the motor at the k-th moment; ψ f is the rotor permanent magnet flux linkage; is the amplitude of the harmonic flux linkage of each order; L dd is the mutual inductance between the d1 and d2 axes; L qq is the mutual inductance between the q1 and q2 axes; L d is the self-inductance of the d axis in the double dq rotating coordinate system; L q is the self-inductance of the q axis in the double dq rotating coordinate system.

4. A rotor flux harmonic d-q modeling method based on a Y-shifted 0° dual-three-phase motor according to claim 1, characterized in that: Calculate the electromagnetic torque T of the system eo and the output currents i d1o 、i q1o 、i d2o 、i q2o in the d1-q1 rotating coordinate system and d2-q2 rotating coordinate system of the motor. The specific formula is T eo (k)=T e1 (k)+T e2 (k)+T e3 (k)+T e4 (k); i d1o (k)=i d1 (k)+i d1h (k); where, T e1 is the fundamental torque; T e2 、T e3 、T e4 are the harmonic torques; T eo is the output electromagnetic torque of the motor; i d1 (k) is the fundamental current of the d1 axis; i d1h (k) is the harmonic current of the d1 axis; i d1o (k) is the output current of the d1 axis.

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