A fault-tolerant operation control method, controller and system for a permanent magnet synchronous motor

Abstract

The application relates to a permanent magnet synchronous motor fault-tolerant operation control method, a controller and a system. When a fault occurs, a fault phase or a remaining healthy phase of a permanent magnet synchronous motor is acquired, the neutral points of the remaining healthy phases are connected, a missing phase motor model is obtained, a fundamental wave subspace linear active disturbance rejection current controller is designed according to the missing phase motor model, and a twice frequency disturbance which is difficult to decouple is compensated in advance through the fundamental wave subspace linear active disturbance rejection current controller, so that the disturbance caused by cutting off the fault phase is inhibited. The application improves the dynamic performance of the system and reduces the torque ripple after the missing phase by decoupling the cross-coupling phase of the fundamental wave subspace current loop in advance. Even when the motor is in a missing phase fault, the stability of torque and rotating speed is maintained, so that the permanent magnet synchronous motor can be stably fault-tolerant operated under the fault.

Description

Technical Field

[0001] This invention relates to the field of motor control, and in particular to a fault-tolerant operation control method, controller and system for a permanent magnet synchronous motor. Background Technology

[0002] Currently, with the promotion of electric vehicles and the development of power electronic converters and motor drive technologies, multiphase motors, which have advantages such as high power density, high reliability, and strong fault tolerance, have become a research hotspot and are widely used in electric vehicle EPS motor drive systems or power steering systems. Due to the phase redundancy characteristics of multiphase motors, in the event of a phase failure, the motor can achieve steady-state operation by disconnecting that phase and using fault-tolerant control algorithms to utilize the remaining healthy phases. Summary of the Invention

[0003] The purpose of this invention is to provide a fault-tolerant operation control method, controller, and system for a permanent magnet synchronous motor that can maintain stable torque and speed even when a phase loss fault occurs.

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

[0005] A fault-tolerant operation control method for a permanent magnet synchronous motor includes:

[0006] Step 1: Obtain the faulty phase or remaining healthy phase of the permanent magnet synchronous motor;

[0007] Step 2: Determine the motor model of the phase-deficient motor to obtain the phase-deficient motor model; the phase-deficient motor is: a motor composed of the remaining healthy phases, and the neutral points of each of the remaining healthy phases are connected;

[0008] Step 3: Design a fundamental subspace linear active disturbance rejection current controller based on the aforementioned phase-deficient motor model;

[0009] Step 4: Use the fundamental subspace linear active disturbance rejection current controller to suppress the disturbance caused by the removal of the faulty phase in the phase-loss motor.

[0010] Optionally, it also includes: controlling the removal of the faulty phase and controlling the connection of the neutral points of each of the remaining healthy phases.

[0011] Optionally, the permanent magnet synchronous motor may also be a fully symmetrical twelve-phase permanent magnet synchronous motor.

[0012] Optionally, determining the motor model of the phase-loss motor and obtaining the phase-loss motor model includes: obtaining the motor rotation magnetomotive force of the permanent magnet synchronous motor before the fault; calculating the vector space decoupling transformation matrix reconstructed after the phase loss based on the motor rotation magnetomotive force of the permanent magnet synchronous motor before the fault; and obtaining the phase-loss motor model based on the vector space decoupling transformation matrix reconstructed after the phase loss.

[0013] Optionally, the formula for calculating the vector space decoupling transformation matrix after phase loss reconstruction is as follows:

[0014] Based on the principle that the rotating magnetomotive force of the motor remains unchanged before and after the fault, the fundamental subspace vectors α and β of the phase-loss motor are calculated; according to The vector space decoupling transformation matrix reconstructed after the phase loss is calculated, where Z1, Z2, ..., Z9 are the harmonic subspace vectors of each row constituting the reconstructed vector space decoupling transformation matrix.

[0015] Optionally, the single-phase motor model includes the fundamental subspace voltage equation, harmonic subspace voltage equation, torque equation, and motion equation.

[0016] Optionally, the state equation of the fundamental subspace linear active disturbance rejection current controller is calculated based on the fundamental subspace voltage equation, the harmonic subspace voltage, the torque equation, and the motion equation; the fundamental subspace linear active disturbance rejection current controller is obtained based on the state equation of the fundamental subspace linear active disturbance rejection current controller.

[0017] Optionally, the fundamental subspace linear active disturbance rejection current controller includes a state observer and a coupling compensation term.

[0018] The present invention also provides a fault-tolerant operation controller for a permanent magnet synchronous motor, comprising:

[0019] The information acquisition module is used to acquire the faulty phase or the remaining healthy phase of the permanent magnet synchronous motor;

[0020] The model building module is used to determine the motor model of the phase-deficient motor and obtain the phase-deficient motor model; the phase-deficient motor is: a motor composed of the remaining healthy phases, and the neutral points of each of the remaining healthy phases are connected;

[0021] The design module is used to design a fundamental subspace linear active disturbance rejection current controller based on the phase-deficient motor model.

[0022] The disturbance suppression module is used to suppress the disturbance caused by the disconnection of the faulty phase in the phase-loss motor by employing the fundamental subspace linear active disturbance rejection current controller.

[0023] The present invention also provides a permanent magnet synchronous motor system, comprising: a permanent magnet synchronous motor, a power transfer control board, a three-phase converter, and a current sensor; wherein, the three-phase converter is electrically connected to the permanent magnet synchronous motor; the current sensor is used to collect the current between the three-phase converter and the permanent magnet synchronous motor, and the current collected by the current sensor is used to determine the faulty phase; the power transfer control board includes the above-mentioned fault-tolerant operation controller for permanent magnet synchronous motor provided by the present invention.

[0024] According to specific embodiments provided by the present invention, the following technical effects are disclosed: The present invention proposes a fault-tolerant operation control method for permanent magnet synchronous motors. When a phase loss fault occurs in the motor, the faulty phase and the remaining healthy phases after the synchronous motor fault are first determined, and the neutral points of the remaining healthy phases are connected to form a phase loss motor model. Based on the phase loss motor model, a fundamental subspace linear active disturbance rejection current controller is designed to suppress the disturbance caused by the removal of the faulty phase. By suppressing the corresponding disturbance, the torque ripple after phase loss is reduced, thereby improving the dynamic performance of the system. This ensures that the motor can achieve stable operation using the remaining healthy phases even in the event of a phase loss fault. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart of the twelve-phase permanent magnet synchronous motor control method of the present invention;

[0027] Figure 2 This is a schematic diagram of the overall structure of the twelve-phase permanent magnet synchronous motor control device of the present invention;

[0028] Figure 3 This is a structural diagram of the twelve-phase permanent magnet synchronous motor of the present invention;

[0029] Figure 4 This is a structural diagram of the twelve-phase permanent magnet synchronous motor of the present invention after phase W1 is missing;

[0030] Figure 5 This is a block diagram of the fundamental subspace current controller structure of the present invention;

[0031] Figure 6 This is a block diagram of the fault-tolerant control system for the twelve-phase permanent magnet synchronous motor of the present invention. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] The purpose of this invention is to provide a fault-tolerant operation control method, controller, and system for permanent magnet synchronous motors.

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] like Figure 1 As shown, the fault-tolerant operation control method for permanent magnet synchronous motors provided by the present invention includes the following steps:

[0036] Step 1: Obtain the faulty phase or the remaining healthy phase of the permanent magnet synchronous motor.

[0037] Step 2: Determine the motor model of the phase-deficient motor to obtain the phase-deficient motor model; the phase-deficient motor is: a motor composed of the remaining healthy phases, and the neutral points of each of the remaining healthy phases are connected.

[0038] Step 3: Design a fundamental subspace linear active disturbance rejection current controller based on the missing phase motor model.

[0039] Step 4: Use the fundamental subspace linear active disturbance rejection current controller to suppress the disturbance caused by the removal of the faulty phase in the phase-loss motor.

[0040] In some embodiments, prior to step 2, the method further includes:

[0041] Control the removal of the faulty phase and control the connection of the neutral points of each of the remaining healthy phases.

[0042] Specifically, with Figure 3 Taking the fully symmetrical twelve-phase permanent magnet synchronous motor shown as an example, when W1 fails, see... Figure 4 The faulty phase W1 is disconnected, and the neutral point of the remaining healthy phases is connected to form a single-phase motor.

[0043] In some embodiments, step 2 specifically includes:

[0044] Obtain the rotating magnetomotive force of the permanent magnet synchronous motor before the fault.

[0045] The vector space decoupling transformation matrix after phase loss is calculated based on the motor rotation magnetomotive force of the permanent magnet synchronous motor before the fault.

[0046] The phase-loss motor model is obtained based on the vector space decoupling transformation matrix reconstructed after phase loss.

[0047] The specific steps for calculating the vector space decoupling transformation matrix after phase loss reconstruction based on the rotating magnetomotive force of the permanent magnet synchronous motor before the fault are as follows:

[0048] Taking a W1 phase fault as an example, based on the principle that the rotating magnetomotive force of the motor remains unchanged before and after the fault, the fundamental subspace vectors α and β are obtained, as shown below:

[0049]

[0050]

[0051] Based on the definition of vector space decoupling, the vector space decoupling transformation matrix after phase loss is calculated using the following formula: Where Z1, Z2, ..., Z9 are the harmonic subspace vectors of each row that constitute the decoupling transformation matrix of the reconstructed vector space.

[0052] The calculated vector space decoupling transformation matrix after phase loss reconstruction is as follows:

[0053]

[0054] The phase-loss motor model is obtained based on the vector space decoupling transformation matrix reconstructed after phase loss, as follows:

[0055] From the vector space decoupling transformation matrix reconstructed after phase loss, it can be seen that the vector space decoupling transformation matrix reduces the asymmetric eleven-phase AC variables in the natural coordinate system to AC variables in the stationary coordinate system. Since this invention uses rotor flux orientation, a rotational transformation is also required for the fundamental subspace. The rotational transformation moment is:

[0056] Combining the calculated vector space decoupling transformation matrix after phase loss reconstruction, the total transformation matrix is: T 11r =P r T 11 Thus, a single-phase motor model is obtained.

[0057] In some embodiments, step 3 specifically includes:

[0058] The state equation of the fundamental subspace linear active disturbance rejection current controller is calculated based on the aforementioned phase-deficient motor model.

[0059] The fundamental subspace linear active disturbance rejection current controller is obtained based on the state equation of the fundamental subspace linear active disturbance rejection current controller.

[0060] Specifically, the state equation of the fundamental subspace linear active disturbance rejection current controller is calculated based on the missing-phase motor model, as follows:

[0061] The single-phase motor model includes the fundamental subspace voltage equation, the harmonic subspace voltage equation, the torque equation, and the motion equation.

[0062] The fundamental subspace voltage equation in the single-phase motor model can be obtained by rotating the transformation matrix P. r The voltage equation applied during normal motor operation is used for calculation, and the specific calculation formula is as follows:

[0063]

[0064] in ψ dq ω represents the flux linkage of the permanent magnet along the d-axis and q-axis. e Angular velocity, representing the motor's rotational speed;

[0065] Therefore, the fundamental wavelet space voltage equation of the asymmetric eleven-phase motor after phase loss can be obtained as follows:

[0066] in,

[0067] R represents the second harmonic component in the motor model. s L is the stator resistance. aad For the stator d-axis principal self-inductance, L aaq For the stator q-axis principal self-inductance, L l For stator leakage inductance, ψ f θ is the flux linkage of a permanent magnet, and θ is the electrical angle.

[0068] The harmonic subspace voltage equation is based on calculate.

[0069] Electromagnetic torque equation based on T e =6n p [ψ f i q +(L d -L q )i d i q Calculate, where n p It is an extreme logarithm.

[0070] The equation of motion is based on Calculate, where T l Where ω is the load torque, B is the damping coefficient, J is the moment of inertia, and ω is the rotational torque. m Mechanical angular velocity.

[0071] Based on the fundamental subspace voltage equation, harmonic subspace voltage equation, torque equation, and motion equation, the state equation of the fundamental subspace linear active disturbance rejection current controller is calculated as follows:

[0072]

[0073] Where, σ m (i d ,ω e ,θ) and σ n (i q ,ω eBoth ,θ) are components relative to the second harmonic of the fundamental frequency. Treating both terms as disturbance terms, b m =1 / 6L aad b n =1 / 6L aaq L aad For the stator d-axis principal self-inductance, L aaq The stator q-axis is the main self-inductance.

[0074] Since the fundamental subspace current state equation includes current coupling terms, speed coupling terms, and second harmonic disturbance terms, the total disturbance to be suppressed also includes current coupling terms, speed coupling terms, and second harmonic disturbance terms. To observe and compensate for difficult-to-decouple second harmonic disturbances in advance, a fundamental subspace linear active disturbance rejection current controller is designed based on the state equation of the fundamental subspace linear active disturbance rejection current controller.

[0075] The fundamental subspace linear active disturbance rejection current controller is obtained based on the state equation of the fundamental subspace linear active disturbance rejection current controller, as follows:

[0076] The state equation of the fundamental subspace linear active disturbance rejection current controller with added coupling term compensation is calculated based on the state equation of the fundamental subspace linear active disturbance rejection current controller. The formula is as follows:

[0077]

[0078] Where x1 is the object of observation, i.e., the dq-axis current, x2 is the second harmonic disturbance term to be observed, and λ is the coupling compensation term. For the d-axis current controller, λ = (L aaq / L aad )ω e i q For a q-axis current controller, λ = -(L aad / L aaq )ω e i d -6ω e ψ f / L aaq .

[0079] The LESO equations for a linear extended state observer that are difficult to decouple from second harmonic perturbations are as follows.

[0080] A fundamental subspace current controller is obtained, and the output of the fundamental subspace current controller is: Where k p Here, r is the proportionality coefficient, and r is the reference signal for the harmonic subspace current loop. These are the observed values ​​of the dq-axis current. b0 represents the observed value of the second harmonic disturbance term, and b0 is the controller gain parameter.

[0081] The present invention also provides a fault-tolerant operation controller for a permanent magnet synchronous motor, comprising:

[0082] The information acquisition module is used to acquire the faulty phase or the remaining healthy phase of the permanent magnet synchronous motor;

[0083] The model building module is used to determine the motor model of the phase-deficient motor and obtain the phase-deficient motor model; the phase-deficient motor is: a motor composed of the remaining healthy phases, and the neutral points of each of the remaining healthy phases are connected;

[0084] The design module is used to design a fundamental subspace linear active disturbance rejection current controller based on the phase-deficient motor model.

[0085] The disturbance suppression module is used to suppress the disturbance caused by the disconnection of the faulty phase in the phase-loss motor by employing the fundamental subspace linear active disturbance rejection current controller.

[0086] The present invention also provides a permanent magnet synchronous motor system, including a permanent magnet synchronous motor, a power transfer control board, a three-phase converter, and a current sensor;

[0087] The three-phase converter is connected to the permanent magnet synchronous motor circuit.

[0088] The current sensor is used to collect the current between the three-phase converter and the permanent magnet synchronous motor, and the current collected by the current sensor is used to determine the faulty phase.

[0089] The power switching control board includes the fault-tolerant operation controller for the permanent magnet synchronous motor.

[0090] like Figure 2 As shown, in some embodiments, a permanent magnet synchronous motor system is a fully symmetrical twelve-phase permanent magnet synchronous motor control system, including: a fully symmetrical twelve-phase permanent magnet synchronous motor 1, a first power transfer control board 2-1, a second power transfer control board 2-2, a first converter 3-1, a second converter 3-2, a third converter 3-3, a fourth converter 3-4, and a DC bus 4.

[0091] The first power conversion control board 2-1 includes a first current sensor 2-1-1, a first DB62 interface 2-1-2, and a first DB37 interface 2-1-3. The second power conversion control board 2-2 includes a second current sensor 2-2-1, a second DB62 interface 2-2-2, and a second DB37 interface 2-2-3.

[0092] like Figure 2 As shown, in some embodiments, the permanent magnet synchronous motor system further includes:

[0093] The DC bus 4 is connected in parallel to a first converter 3-1, a second converter 3-2, a third converter 3-3, and a fourth converter 3-4. The first converter 3-1 drives the A1, B1, and C1 phase currents of the fully symmetrical twelve-phase permanent magnet synchronous motor 1. The second converter 3-2 drives the U1, V1, and W1 phase currents of the fully symmetrical twelve-phase permanent magnet synchronous motor 1. The third converter 3-3 drives the A2, B2, and C2 phase currents of the fully symmetrical twelve-phase permanent magnet synchronous motor 1. The fourth converter 3-4 drives the U2, V2, and W2 phase currents of the fully symmetrical twelve-phase permanent magnet synchronous motor 1.

[0094] The first power transfer control board's db62 interface 2-1-2 input side is used to receive PWM control signals for phases A1, B1, C1, U1, V1, and W1. The first current sensor 2-1-1's input side is connected to the first power transfer control board 2-1's input side to collect phase currents A1, B1, C1, U1, V1, and W1. The first current sensor 2-1-1's output side is connected to the first power transfer control board 2-1's output side. The first power transfer control board's db37 interface 2-1-3 output side is used to output phase current sampling values ​​for phases A1, B1, C1, U1, V1, and W1. The first power transfer control board 2-1's output side is connected to the A1, B1, C1, U1, V1, and W1 phase input sides of the fully symmetrical twelve-phase permanent magnet synchronous motor 1.

[0095] The second power transfer control board's db62 interface 2-2-2 input side is used to receive PWM control signals for phases A2, B2, C2, U2, V2, and W2. The input side of the second current sensor 2-2-1 is connected to the input side of the second power transfer control board 2-2 to collect the currents of phases A2, B2, C2, U2, V2, and W2. The output side of the second current sensor 2-2-1 is connected to the output side of the second power transfer control board 2-2. The output side of the second power transfer control board's db37 interface 2-2-3 is used to output the sampled current values ​​of phases A2, B2, C2, U2, V2, and W2. The output side of the second power transfer control board 2-2 is connected to the input sides of phases A2, B2, C2, U2, V2, and W2 of the fully symmetrical twelve-phase permanent magnet synchronous motor 1.

[0096] like Figure 5 As shown, in some embodiments, when a fault occurs in phase W1 of the twelve-phase motor, the circuit breaker S... W1Phase W1 is disconnected, while other hardware circuits remain unchanged. The remaining windings are treated as a whole and subjected to fault-tolerant control as an asymmetrical eleven-phase permanent magnet synchronous motor. A dual closed-loop control system is adopted, with the outer loop being the voltage loop and the inner loop being the current loop. The actual values ​​of the fundamental and harmonic subspace currents are obtained by sampling the eleven-phase currents of the motor and performing vector space decoupling transformation, and then negatively fed back to the current loop.

[0097] Since the vector space decoupling transformation matrix is ​​an eleven-dimensional matrix, the current variable that needs to be controlled is also eleven-dimensional. Excluding the two fundamental subspace components, the remaining eight current dimensions are all harmonic subspace components. PI closed-loop control is adopted, and the harmonic subspace current setpoint is zero, which reduces the copper loss of the motor.

[0098] The two-dimensional fundamental wavelet space current employs linear active disturbance rejection control, and its current controller structure is as follows: Figure 6 The voltage setpoint output by the fundamental subspace current controller and the harmonic subspace current controller is PWM modulated, and the output converter drive signal is used to control the switching on and off of the power devices and control the speed of the motor.

[0099] In summary, this invention has the following advantages: By obtaining the faulty phase or remaining faulty phase of the permanent magnet synchronous motor, cutting off the faulty phase, and connecting the neutral point of the remaining healthy phases, a phase-loss motor model is obtained. A fundamental subspace linear active disturbance rejection current controller is designed based on the phase-loss motor model. When a fault occurs, the fundamental subspace linear active disturbance rejection current controller suppresses the disturbance caused by cutting off the faulty phase by compensating in advance for the difficult-to-decoupled second harmonic disturbance. By decoupling the cross-coupled phases of the fundamental subspace current loop in advance, the dynamic performance of the system is improved, and the torque ripple after phase loss is reduced. Even when the motor experiences a phase-loss fault, the torque and speed remain stable, enabling the permanent magnet synchronous motor to operate stably and fault-tolerantly under fault conditions.

[0100] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant details can be found in the method section.

[0101] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A fault-tolerant operation control method for a permanent magnet synchronous motor, characterized in that, include: Step 1: Obtain the faulty phase or remaining healthy phase of the permanent magnet synchronous motor; the permanent magnet synchronous motor is a fully symmetrical twelve-phase permanent magnet synchronous motor; Step 2: Determine the motor model of the phase-deficient motor to obtain the phase-deficient motor model; the phase-deficient motor is: a motor composed of the remaining healthy phases, and the neutral points of each of the remaining healthy phases are connected; Determining the motor model of the single-phase motor, and obtaining the single-phase motor model, includes: Obtain the rotating magnetomotive force of the permanent magnet synchronous motor before the fault; The vector space decoupling transformation matrix after phase loss reconstruction is calculated based on the motor rotational magnetomotive force of the permanent magnet synchronous motor before the fault. The phase-loss motor model is obtained based on the vector space decoupling transformation matrix reconstructed after phase loss; Step 3: Design a fundamental subspace linear active disturbance rejection current controller based on the aforementioned phase-deficient motor model; Based on the fundamental subspace voltage equation, harmonic subspace voltage equation, torque equation, and motion equation, the state equation of the fundamental subspace linear active disturbance rejection current controller is calculated as follows: ， in, σ m ( i d , ω e , θ )and σ n ( i q , ω e , θ () represents the component with a frequency twice that of the fundamental frequency. b m =1 / 6 L aad , b n =1 / 6 L aaq , L aad For the stator d-axis principal self-inductance, L aaq For the stator q-axis principal self-inductance, ω e Angular velocity, representing the motor's rotational speed. It is a permanent magnet flux chain. θ For electrical angle, i d Let i be the d-axis current. q This is the q-axis current; The state equation of the fundamental subspace linear active disturbance rejection current controller with added coupling term compensation is calculated based on the state equation of the fundamental subspace linear active disturbance rejection current controller. The formula is as follows: ； Where x1 is the object of observation, x2 is the second harmonic disturbance term to be observed, and λ is the coupling compensation term. For the d-axis current controller, λ = (L aaq / L aad )ω e i q For the q-axis current controller, b0 is the controller gain parameter, and u is the output of the fundamental subspace current controller; Step 4: Use the fundamental subspace linear active disturbance rejection current controller to suppress the disturbance caused by the removal of the faulty phase in the phase-loss motor.

2. The fault-tolerant operation control method for permanent magnet synchronous motors according to claim 1, characterized in that, The formula for calculating the vector space decoupling transformation matrix after phase loss reconstruction is as follows: Based on the principle that the rotating magnetomotive force of the motor remains unchanged before and after the fault, the fundamental subspace vector of the phase-loss motor is calculated. ; according to The vector space decoupling transformation matrix reconstructed after the phase loss is calculated, where Z1, Z2, ..., Z9 are the harmonic subspace vectors of each row constituting the reconstructed vector space decoupling transformation matrix.

3. The fault-tolerant operation control method for permanent magnet synchronous motors according to claim 1, characterized in that, Design a fundamental subspace linear active disturbance rejection current controller based on the state equation of the fundamental subspace linear active disturbance rejection current controller.

4. A fault-tolerant operation controller for a permanent magnet synchronous motor, used to implement the fault-tolerant operation control method for a permanent magnet synchronous motor as described in claim 1, characterized in that, include: The information acquisition module is used to acquire the faulty phase or the remaining healthy phase of the permanent magnet synchronous motor; The model building module is used to determine the motor model of the phase-deficient motor and obtain the phase-deficient motor model; the phase-deficient motor is: a motor composed of the remaining healthy phases, and the neutral points of each of the remaining healthy phases are connected; The design module is used to design a fundamental subspace linear active disturbance rejection current controller based on the phase-deficient motor model. The disturbance suppression module is used to suppress the disturbance caused by the disconnection of the faulty phase in the phase-loss motor by employing the fundamental subspace linear active disturbance rejection current controller.

5. A permanent magnet synchronous motor system, characterized in that, include: Permanent magnet synchronous motor, power transfer control board, three-phase converter and current sensor; The three-phase converter is connected to the permanent magnet synchronous motor circuit. The current sensor is used to collect the current between the three-phase converter and the permanent magnet synchronous motor, and the current collected by the current sensor is used to determine the faulty phase. The power switching control board includes the permanent magnet synchronous motor fault-tolerant operation controller as described in claim 4.

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