Progressive quasi-fault-tolerant control method for five-phase permanent magnet synchronous motor and implementation device thereof

Abstract

The application relates to a progressive quasi-fault-tolerant control method of a five-phase permanent magnet synchronous motor and an implementation device thereof. The method comprises the following steps: receiving a progressive quasi-fault-tolerant control strategy starting instruction, a phase current progressive depth and a total progressive time which are sent by an instruction system; based on the principle of constant magnetic motive force, a progressive space voltage vector decoupling matrix and an inverse matrix of the five-phase permanent magnet synchronous motor are constructed; phase current and rotor position information of the five-phase permanent magnet synchronous motor are collected in real time, reference current in a rotating coordinate system is obtained through coordinate transformation, and a difference between the reference current and given current is input into a regulator to obtain a reference voltage vector; a pulse waveform generated by the reference voltage vector is used to act on a switching tube through a carrier modulation strategy, so that the progressive quasi-fault-tolerant control of the five-phase permanent magnet synchronous motor is realized. The implementation device comprises program units corresponding to the method steps. The application improves the reliability of a motor driving system and helps to reduce equipment maintenance cost.

Description

Technical Field

[0001] This invention belongs to the field of fault-tolerant control of multiphase motors, and in particular relates to a progressive quasi-fault-tolerant control method and its implementation device suitable for five-phase permanent magnet synchronous motors. Background Technology

[0002] Five-phase permanent magnet synchronous motors (PMSMs) have gained widespread attention in numerous application fields due to their high efficiency, high torque density, and excellent dynamic performance. However, in actual operation, PSMs may experience various types of faults, such as single-phase open circuits and two-phase open circuits. These faults can lead to reduced system performance or even the failure of the entire drive system. Therefore, researching fault-tolerant control strategies is of great significance in improving the reliability and stability of PSMs.

[0003] Domestic scholars have achieved certain results in the fault-tolerant control method of five-phase permanent magnet synchronous motors with open winding topology. Chinese invention patent "A Fault-Tolerant Control Method for Single-Phase Open-Circuit Fault of a Five-Phase Permanent Magnet Synchronous Motor" (Patent No.: CN201810803410.8) proposes a fault-tolerant control method for two-phase open-circuit faults in a five-phase permanent magnet synchronous motor based on SVPWM. This method achieves the synthesis of the reference vector by constructing a reduced-order matrix after the fault, and is computationally simple and easy to implement. However, this method mainly targets single-phase open-circuit faults and has limited capability for handling other types of faults. Chinese invention patent "A Fault-Tolerant Current Setting Method for Single-Phase Open-Circuit Fault of a Five-Phase Permanent Magnet Synchronous Motor" (Patent No.: CN202010244591.2) proposes a fault-tolerant current setting method for single-phase winding open-circuit faults in a five-phase permanent magnet synchronous motor. This method uses the control variable method to solve for the phase and amplitude of the fault-tolerant current step by step. However, existing patents mainly address single-phase and two-phase open-circuit faults, proposing corresponding fault-tolerant control methods. These methods can significantly reduce torque ripple caused by stator winding open-circuit faults while ensuring average torque when handling corresponding faults, thus significantly improving the operating performance of the five-phase PMSM under fault conditions and effectively enhancing the reliability of the speed control system. However, existing patents mainly focus on normal operation and fault operation, treating them as two independent operating states, lacking research on the gradual switching between normal and fault operation. Summary of the Invention

[0004] Purpose of the Invention: The main objective of this invention is to achieve progressive quasi-fault-tolerant control for a five-phase permanent magnet synchronous motor. Progressive quasi-fault-tolerant control means gradually switching between normal operation and fault operation, a method that can better address the requirements of transient performance during faults.

[0005] To address the problems existing in the prior art, this invention can reduce the cost of system operation and maintenance by implementing a progressive quasi-fault-tolerant control strategy. When a fault occurs, the progressive quasi-fault-tolerant control strategy can mitigate the impact of the fault on the system, avoid sudden downtime, and thus reduce equipment damage and production losses caused by the fault. Furthermore, this strategy can reduce reliance on backup equipment and lower equipment maintenance costs. To achieve this goal, it is necessary to study the relationship between normal operation and fault operation, and based on this, propose a corresponding progressive quasi-fault-tolerant control strategy and its implementation device.

[0006] Technical solution: To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows:

[0007] This invention provides a progressive quasi-fault-tolerant control method for a five-phase permanent magnet synchronous motor. The implementation steps include: Step 1) Based on the principle of constant motor magnetomotive force, by changing the given value of the A-phase current, the currents and phases of phases B, C, D, and E at different times are calculated. Step 2) Receiving the issued progressive quasi-fault-tolerant start, phase current progressive depth, and total time consumption commands, the per-unit value of the phase current is obtained through linear interpolation, and the progressive space voltage vector decoupling matrix of the five-phase permanent magnet synchronous motor is calculated. Step 3) In the stationary coordinate system, the space voltage vector decoupling matrix of the five-phase permanent magnet synchronous motor is updated, and the difference between the real-time sampled current signal and the given reference current is used for control to obtain the reference voltage vector in the rotating coordinate system. Step 4) The reference voltage vector is transformed to the natural coordinates of the five-phase permanent magnet synchronous motor through the progressive quasi-fault-tolerant decoupling matrix, the switching signal is obtained and applied to the power switching device to realize the closed-loop control of the motor.

[0008] Furthermore, the specific process of step 1) is as follows:

[0009] Step 1.1) Change the current of phase A (per unit value) Given a value, the value is increased from 0 to 1 in increments of 0.1. This value is then substituted into the invariant equation of the motor magnetomotive force. The Newton-Raphson iteration method is used to solve the multivariate nonlinear equations to obtain the phase currents (per unit value) of phases B, C, D, and E. and phase , , ,and It can be represented as:

[0010]

[0011] in, T represents the transpose of the matrix. , , , , and Represents the matrix of variables The nonlinear equations can be expressed as follows:

[0012]

[0013] Step 1.2) Change of phase A current over time By fitting the phase currents and phases of phases B, C, D, and E with cubic function equations, the functional relationship between phase A current and phases B, C, D, and E currents and phases can be obtained.

[0014] Step 1.3) Calculate the speed error between the given speed n* and the actual speed n of the motor in real time, and obtain the reference value of the required q current through the speed loop PI regulator. And let the reference value of current d be... ;

[0015] Furthermore, the specific process described in step 2) is as follows:

[0016] Step 2.1) Receive the target value X of phase A current and transition time Q from the command system.

[0017] Step 2.2) Construct the objective function for the linear transformation of phase A current during transition time Q, which can be expressed as:

[0018]

[0019] in, For phase A current in The per-unit value at time, It is a monotonically increasing time series;

[0020] Step 2.3) Calculate the phase A current value Substituting these values ​​into the phase currents (B, C, D, E) and their phases obtained in step 1.2), the currents of each phase can be expressed as:

[0021]

[0022] in, This represents the amplitude of the currents in phases B, C, D, and E. , , , These represent the phases of the currents in phases B, C, D, and E, respectively.

[0023] Furthermore, the specific process of step 3) is as follows:

[0024] Step 3.1) Calculate the and , , , Substituting into the asymptotic space voltage vector decoupling matrix, the current time series is obtained. The space voltage vector decoupling matrix under the given conditions can be expressed as:

[0025]

[0026] Step 3.2) By adjusting the space voltage vector Perform variable substitution, let After variable substitution It can be represented as a multivariate function of x, y, z, w:

[0027]

[0028] Where the space transformation matrix This represents the multivariate transformation matrix with respect to variables x, y, z, and w, where x, y, z, and w represent functions of time t, i.e., the spatial transformation matrix. The relationship between it and time t is a univariate function.

[0029] Step 3.3) The current of the five-phase permanent magnet synchronous motor measured by the sensor , , , and The d-axis current is obtained by asymptotically transforming the coordinates to a rotating coordinate system. and q-axis current It can be represented as:

[0030]

[0031] Where θ is the electrical angle of the motor, and T represents the transpose of the matrix.

[0032] Step 3.4) The d-axis current obtained through real-time sampling and q-axis current With a given reference d-axis current and q-axis current The given d-axis voltage is calculated using a PI controller. and q-axis voltage .

[0033] Furthermore, the specific process of step 4) is as follows:

[0034] Step 4.1) Given the d-axis voltage and q-axis voltage Transforming the voltage vector into the five-phase natural coordinate system using the progressive space voltage vector transformation matrix in step 3.2), it can be expressed as:

[0035]

[0036] in, , , , and θ represents the phase voltage setpoint of the five-phase permanent magnet synchronous motor, and θ is the electrical angle of the motor.

[0037] Step 4.2) Calculate the back electromotive force of the five-phase permanent magnet synchronous motor based on the motor speed n and electrical angle position θ, and add it to the five-phase voltage of the motor calculated in step 4.1) to obtain the final phase reference voltage used to control the motor, which can be expressed as:

[0038]

[0039] in, , , , and These are the real-time back electromotive force values ​​of a five-phase permanent magnet synchronous motor. , , , and These are the phase reference voltages of the compensated five-phase permanent magnet synchronous motor.

[0040] Step 4.3) Use a carrier modulation strategy to obtain a pulse sequence by combining the bus voltage and the motor phase reference voltage, and apply the switching signal to the five-phase permanent magnet synchronous motor driver to achieve motor control.

[0041] This invention also provides a progressive quasi-fault-tolerant control device for a five-phase permanent magnet synchronous motor:

[0042] Command input unit A: Responsible for receiving external commands, such as start, stop, and speed commands. In addition, it can set relevant parameters for the progressive quasi-fault-tolerant control strategy, such as the progressive target current value X and the total progressive time Q.

[0043] Signal acquisition unit B: Responsible for real-time acquisition of phase current, rotor position information, and angular velocity information of the five-phase permanent magnet synchronous motor. The acquired data is then sent to coordinate transformation unit C and back EMF compensation unit D.

[0044] Coordinate transformation unit C: Receives phase current and rotor position information acquired by signal acquisition unit B, and obtains the reference current in the rotating coordinate system through coordinate transformation. The difference between the calculated reference current and the given current is sent to the regulator to obtain the reference voltage vector. The reference voltage vector is then sent to the back EMF compensation unit D.

[0045] Back EMF Compensation Unit D: Based on the rotor position and angular velocity information provided by Signal Acquisition Unit B, it calculates the back EMF of the five-phase permanent magnet synchronous motor. It then compensates for the back EMF with the reference voltage vector sent from Coordinate Transformation Unit C to obtain the compensated voltage vector. Finally, it sends the compensated voltage vector to Pulse Output Unit E.

[0046] Pulse output unit E: Receives the compensated voltage vector calculated by the back EMF compensation unit D, and applies the pulse waveform generated by the compensated voltage vector to the switching transistor through a carrier modulation strategy, thereby realizing the progressive quasi-fault-tolerant control method of the five-phase permanent magnet synchronous motor.

[0047] The beneficial effects of this invention are:

[0048] 1) Improved fault transient performance of five-phase permanent magnet synchronous motor driver: By realizing the gradual switching between normal operation and fault operation, the present invention can better meet the requirements of fault transient performance and enhance the stability of motor drive system when a fault occurs.

[0049] 2) Implemented a progressive hot-switching function for the inverter bridge arms of a five-phase permanent magnet synchronous motor drive system: This invention utilizes a carrier modulation strategy to apply the pulse waveform generated by the reference voltage vector to the switching transistors, thereby achieving a progressive hot-switching function for the inverter bridge arms of the motor drive system. This function facilitates the replacement of the driver bridge arms while the motor is running, reducing maintenance costs.

[0050] 3) Reduce torque pulsation while keeping the magnetomotive force constant: This invention can significantly reduce torque pulsation caused by stator winding open circuit faults while keeping the magnetomotive force constant, thus significantly improving the operating performance of the five-phase PMSM under fault conditions.

[0051] 4) Reduced Equipment Maintenance Costs: By implementing a progressive quasi-fault-tolerant control strategy, this invention can reduce the cost of system operation and maintenance. When a fault occurs, the progressive quasi-fault-tolerant control strategy can mitigate the impact of the fault on the system, avoid sudden downtime, thereby reducing equipment damage and production losses caused by the fault, and lowering equipment maintenance costs. Attached Figure Description

[0052] Figure 1 Structural diagram of the fault-tolerant control method and device after fault reconstruction of an open-winding five-phase permanent magnet synchronous motor inverter.

[0053] Figure 2 A schematic diagram of the progressive quasi-fault-tolerant current and phase change.

[0054] Figure 3 The graph shows the current changes in phases B, C, D, and E when the current in phase A changes.

[0055] Figure 4 The diagram shows the five-phase current operation results of the proposed method.

[0056] Figure 5 The output torque result of the proposed method is shown in the figure. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention.

[0058] like Figure 1 The diagram shows a structural diagram of a fault-tolerant control method and device for fault reconstruction of an open-winding five-phase permanent magnet synchronous motor inverter.

[0059] The specific implementation steps of the proposed fault-tolerant control method for fault reconfiguration of open-winding five-phase permanent magnet synchronous motor inverters include:

[0060] Step 1) Based on the principle of constant motor magnetomotive force, by changing the given value of phase A current, calculate the currents and phases of phases B, C, D, and E at different times, and calculate the reference value of q-axis current based on the given speed.

[0061] Step 1.1) Change the current of phase A (per unit value) Given a value, the value is incremented from 0 to 1 in steps of 0.1, and substituted into the invariant equation of the motor magnetomotive force. The Newton-Raphson iteration method is used to solve the multivariate nonlinear equation system. Figure 2 A schematic diagram is given showing the changes in the amplitude and phase of the currents in phases B, C, D, and E when the per-unit value of the current in phase A changes. Solve the equations to obtain the per-unit values ​​of the currents in phases B, C, D, and E. and phase , , ,and It can be represented as:

[0062]

[0063] in, T represents the transpose of the matrix. , , , , and Represents the matrix of variables The nonlinear equations can be expressed as follows:

[0064]

[0065] The calculation results are shown in Table 1.

[0066] Table 1 shows the phase current reference values ​​and phase calculation results:

[0067] ;

[0068] Step 1.2) Change of phase A current over time By fitting a cubic function to the currents and phases of phases B, C, D, and E, the functional relationship between the current of phase A and the currents and phases of phases B, C, D, and E can be obtained.

[0069] Step 1.3) Calculate the speed error between the given speed n* and the actual speed n of the motor in real time, and obtain the reference value of the required q current through the speed loop PI regulator. And let the reference value of current d be... ;

[0070] Step 2) Receive the instructions for progressive quasi-fault tolerance start, phase current progressive depth, and total time consumption. Obtain the per-unit value of the phase current through linear interpolation and calculate the progressive space voltage vector decoupling matrix of the five-phase permanent magnet synchronous motor.

[0071] Step 2.1) Receive the target value X of phase A current and transition time Q from the command system.

[0072] Step 2.2) Construct the objective function for the linear transformation of phase A current during transition time Q, which can be expressed as:

[0073]

[0074] in, For phase A current in The per-unit value at time, It is a monotonically increasing time series;

[0075] Step 2.3) Calculate the phase A current value Substituting these values ​​into the phase currents (B, C, D, E) and their phases obtained in step 1.2), the currents of each phase can be expressed as:

[0076]

[0077] in, This represents the amplitude of the currents in phases B, C, D, and E. , , , These represent the phases of the currents in phases B, C, D, and E, respectively.

[0078] Figure 3This shows the trend of changes in the amplitude of phase B, C, D, and E currents when the phase A current changes.

[0079] Step 3) In the stationary coordinate system, update the spatial voltage vector decoupling matrix of the five-phase permanent magnet synchronous motor, control the difference between the real-time sampled current signal and the given reference current, and obtain the reference voltage vector in the rotating coordinate system.

[0080] Step 3.1) Calculate the and , , , Substituting into the asymptotic space voltage vector decoupling matrix, the current time series is obtained. The space voltage vector decoupling matrix under the given conditions can be expressed as:

[0081]

[0082] Where the space transformation matrix This represents the multivariate transformation matrix with respect to variables x, y, z, and w, where x, y, z, and w represent functions of time t, i.e., the spatial transformation matrix. The relationship between it and time t is a univariate function.

[0083] Step 3.2) By adjusting the space voltage vector Perform variable substitution, let After variable substitution It can be represented as a multivariate function of x, y, z, w:

[0084]

[0085] Step 3.3) The current of the five-phase permanent magnet synchronous motor measured by the sensor , , , and The d-axis current is obtained by asymptotically transforming the coordinates to a rotating coordinate system. and q-axis current It can be represented as:

[0086]

[0087] Where θ is the electrical angle of the motor, and T represents the transpose of the matrix.

[0088] Step 3.4) The d-axis current obtained through real-time sampling and q-axis current With a given reference d-axis current and q-axis current The given d-axis voltage is calculated using a PI controller. and q-axis voltage .

[0089] Step 4) Transform the reference voltage vector to the natural coordinates of the five-phase permanent magnet synchronous motor through a progressive quasi-fault-tolerant decoupling matrix, obtain the switching signal and apply it to the power switching device to realize the closed-loop control of the motor.

[0090] Step 4.1) Given the d-axis voltage and q-axis voltage Transforming the voltage vector into the five-phase natural coordinate system using the progressive space voltage vector transformation matrix in step 3.2), it can be expressed as:

[0091]

[0092] in, , , , and θ represents the phase voltage setpoint of the five-phase permanent magnet synchronous motor, and θ is the electrical angle of the motor.

[0093] Step 4.2) Calculate the back electromotive force of the five-phase permanent magnet synchronous motor based on the motor speed n and electrical angle position θ, and add it to the five-phase voltage of the motor calculated in step 4.1) to obtain the final phase reference voltage used to control the motor, which can be expressed as:

[0094]

[0095] in, , , , and These are the real-time back electromotive force values ​​of a five-phase permanent magnet synchronous motor. , , , and These are the phase reference voltages of the compensated five-phase permanent magnet synchronous motor.

[0096] Step 4.3) Use a carrier modulation strategy to obtain a pulse sequence by combining the bus voltage and the motor phase reference voltage, and apply the switching signal to the five-phase permanent magnet synchronous motor driver to achieve motor control.

[0097] Figure 4 The five-phase current waveforms of a five-phase permanent magnet synchronous motor are presented after the motor has gone through normal operation, quasi-fault-tolerant operation, fault-tolerant operation, and finally returned to normal operation. Figure 5The torque waveforms of a five-phase permanent magnet synchronous motor are presented after normal operation, quasi-fault-tolerant operation, fault-tolerant operation, and finally, normal operation. The results show that the proposed progressive quasi-fault-tolerant control method can achieve stable motor operation while simultaneously realizing progressive control of the motor current.

[0098] The above embodiments are only used to illustrate the design concept and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, thereby obtaining a fault-tolerant control method for fault reconfiguration of one of the other four phases of an open-winding five-phase permanent magnet synchronous motor. Therefore, all equivalent changes or modifications made based on the principles and design ideas disclosed in this invention are within the protection scope of this invention.

Claims

1. A progressive quasi-fault-tolerant control method for a five-phase permanent magnet synchronous motor, characterized in that, Includes the following steps: Step 1) Based on the principle of constant motor magnetomotive force, by changing the given value of phase A current, calculate the currents and phases of phases B, C, D, and E at different times, and calculate the reference value of q-axis current based on the given speed. Step 2) Receive the instructions for progressive quasi-fault tolerance start, phase current progressive depth, and total time consumption. Obtain the per-unit value of the phase current through linear interpolation and calculate the progressive space voltage vector decoupling matrix of the five-phase permanent magnet synchronous motor. Step 3) In the stationary coordinate system, update the spatial voltage vector decoupling matrix of the five-phase permanent magnet synchronous motor, control the difference between the real-time sampled current signal and the given reference current, and obtain the reference voltage vector in the rotating coordinate system. Step 4) Transform the reference voltage vector to the natural coordinates of the five-phase permanent magnet synchronous motor through a progressive quasi-fault-tolerant decoupling matrix, obtain the switching signal and apply it to the power switching device to realize the closed-loop control of the motor. Step 1) includes the following specific steps: Step 1.1) Change the per-unit value of the phase A current. Given a value, the value is incremented from 0 to 1 in steps of 0.

1. This value is then substituted into the invariant magnetomotive force equation of the motor. The Newton-Raphson iteration method is used to solve the system of multivariate nonlinear equations to obtain the per-unit values ​​of the currents in phases B, C, D, and E. and phase , , ,and It can be represented as: ； in, T represents the transpose of the matrix. , , , , and Represents the matrix of variables The nonlinear equations can be expressed as follows: ; Step 1.2) Change of phase A current over time The functional relationship between phase A current and phases B, C, D, and E currents and phases is obtained by fitting the equations with cubic functions. Step 1.3) Calculate the speed error between the given speed n* and the actual speed n of the motor in real time, and obtain the reference value of the required q current through the speed loop PI regulator. And let the reference value of current d be... ; Step 2) includes the following specific steps: Step 2.1) Receive the target value X of phase A current and the transition time Q from the command system; Step 2.2) Construct the objective function for the linear transformation of phase A current during transition time Q, which can be expressed as: ； in, For phase A current in The per-unit value at time, It is a monotonically increasing time series; Step 2.3) Calculate the phase A current value Substituting the phase current values ​​and phases of phases B, C, D, and E obtained in step 1.2), the current of each phase can be expressed as: ； in, This represents the amplitude of the currents in phases B, C, D, and E. , , , These represent the phases of the currents in phases B, C, D, and E, respectively.

2. The control method according to claim 1, characterized in that, Step 3) includes the following specific steps: Step 3.1) Calculate the and , , , Substituting into the asymptotic space voltage vector decoupling matrix, the current time series is obtained. The space voltage vector decoupling matrix under the given conditions can be expressed as: ； Step 3.2) By adjusting the space voltage vector Perform variable substitution, let ; after variable substitution It can be represented as a multivariate function of x, y, z, w: ； Where the space transformation matrix This represents the multivariate transformation matrix with respect to variables x, y, z, and w, where x, y, z, and w represent functions of time t, i.e., the spatial transformation matrix. The relationship between time t and time t is a univariate function. Step 3.3) The current of the five-phase permanent magnet synchronous motor measured by the sensor , , , and The d-axis current is obtained by asymptotically transforming the coordinates to a rotating coordinate system. and q-axis current It can be represented as: ； Where θ is the electrical angle of the motor, and T represents the transpose of the matrix; Step 3.4) The d-axis current obtained through real-time sampling and q-axis current With a given reference d-axis current and q-axis current The given d-axis voltage is calculated using a PI controller. and q-axis voltage .

3. The control method according to claim 2, characterized in that, Step 4) includes the following specific steps: Step 4.1) Given the d-axis voltage and q-axis voltage Transformed to the five-phase natural coordinate system using the progressive space voltage vector transformation matrix in step 3.2), it can be expressed as: ； in, , , , and These are the phase voltage setpoints for the five-phase permanent magnet synchronous motor, and θ is the electrical angle of the motor. Step 4.2) Calculate the back electromotive force of the five-phase permanent magnet synchronous motor based on the motor speed n and electrical angle position θ, and add it to the five-phase voltage of the motor calculated in step 4.1) to obtain the final phase reference voltage used to control the motor, which can be expressed as: ； in, , , , and These are the real-time back electromotive force values ​​of a five-phase permanent magnet synchronous motor. , , , and These are the compensated phase reference voltages of the five-phase permanent magnet synchronous motor; Step 4.3) Use a carrier modulation strategy to obtain a pulse sequence by combining the bus voltage and the motor phase reference voltage, and apply the switching signal to the five-phase permanent magnet synchronous motor driver to achieve motor control.

4. A progressive quasi-fault-tolerant control device for a five-phase permanent magnet synchronous motor, used to implement the method described in any one of claims 1 to 3, characterized in that, include: Command input unit A: Responsible for receiving external commands, including start, stop, and speed commands; in addition, it sets the relevant parameters of the progressive quasi-fault-tolerant control strategy, such as the progressive target current value X and the total progressive time Q. Signal acquisition unit B: responsible for real-time acquisition of phase current, rotor position information and angular velocity information of the five-phase permanent magnet synchronous motor; and sending the acquired data to coordinate transformation unit C and back electromotive force compensation unit D; Coordinate transformation unit C: Receives the phase current and rotor position information acquired by signal acquisition unit B, and obtains the reference current in the rotating coordinate system through coordinate transformation; The difference between the calculated reference current and the given current is fed into the regulator to obtain the reference voltage vector; Send the reference voltage vector to the back EMF compensation unit D; Back EMF Compensation Unit D: Calculates the back EMF of the five-phase permanent magnet synchronous motor based on the rotor position and angular velocity information provided by the signal acquisition unit B; compensates the back EMF with the reference voltage vector sent by the coordinate transformation unit C to obtain the compensated voltage vector; and sends the compensated voltage vector to the pulse output unit E. Pulse output unit E: Receives the compensated voltage vector calculated by the back EMF compensation unit D, and applies the pulse waveform generated by the compensated voltage vector to the switching transistor through a carrier modulation strategy, thereby realizing the progressive quasi-fault-tolerant control method of the five-phase permanent magnet synchronous motor.

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