A reluctance-like back salient fault-tolerant motor based on active MTPA strategy and a driving and design method thereof

Abstract

The application discloses a kind of based on active MTPA strategy's magnetoresistive type anti salient pole fault-tolerant motor and its drive, design method.By adopting fractional slot concentrated winding and ingeniously setting main permanent magnet, multi-layer magnetic barrier and auxiliary permanent magnet mode, on the basis of guaranteeing motor fault-tolerant ability, it is fully improved that motor's anti salient pole rate and reluctance torque utilization rate, effectively inhibit the cross coupling and saturation effect of motor, and improve the torque output capacity of motor.At control level, for five-phase magnetoresistive type anti salient pole fault-tolerant motor characteristics, it is proposed based on compensation factor high-precision VSI-MTPA control strategy, improves the MTPA point tracking precision and robustness of motor VSI-MTPA control system, with higher dynamic and static performance.The application breaks through the technical bondage of traditional anti salient pole fault-tolerant motor and its drive system, and designs magnetoresistive type anti salient pole fault-tolerant motor based on active MTPA strategy and fuses high-precision VSI-MTPA control strategy.

Description

Technical Field

[0001] This invention belongs to the field of motor and intelligent control technology, and relates to a reluctance-like anti-salient pole fault-tolerant motor based on an active MTPA strategy, as well as its driving and design methods. Background Technology

[0002] Modern machinery manufacturing, transportation, aerospace, agricultural production, and household appliances have an urgent need for highly reliable and fault-tolerant motors. Anti-salient pole permanent magnet fault-tolerant motors feature high torque output, high efficiency, a wide speed range, and strong fault-tolerant operation. These motors achieve fault tolerance and anti-salient pole characteristics (direct-axis inductance is greater than quadrature-axis inductance, i.e., L...) through a special stator and rotor structure. d >L q This allows the motor to achieve strong sensorless operation. For permanent magnet synchronous motors, a high saliency ratio leads to high power density and a high reluctance torque component, while improving the reluctance torque utilization rate can further increase the motor's output torque and reduce the motor's dependence on permanent magnets. However, anti-salient permanent magnet fault-tolerant motors, due to their concentrated windings, often have a low saliency ratio, resulting in a low reluctance torque component, significant cross-coupling and saturation effects, and a narrow speed range. Simultaneously, the rotor of this motor typically employs a symmetrical structure, resulting in very low reluctance torque utilization, which limits the output torque. This significantly restricts the application scenarios for this type of motor.

[0003] To overcome the problem of low saliency ratio in electric motors, related research has employed methods such as distributed windings and multi-layer magnetic barriers. Among these, Chinese invention patent CN111654124B proposes an improved slot-pole fit, achieving a higher saliency ratio. However, these methods are all applied to traditional positive salient pole (L) motors. q >L d For anti-salient pole fault-tolerant motors, the fault-tolerant characteristics limit the winding configuration, and the anti-salient pole characteristics also impose different requirements on the rotor structure. Therefore, existing methods for increasing the salient pole ratio cannot be directly applied. Furthermore, to overcome the problem of low reluctance torque utilization, related research has proposed methods such as setting asymmetrical magnetic barriers and magnetic focusing structures. Among them, Chinese invention patent CN115395691A proposes a rotor structure with permanent magnet bias, which improves the utilization rate of reluctance torque. However, for anti-salient pole fault-tolerant motors, the realization of the anti-salient pole characteristics restricts the position of the permanent magnet and magnetic barriers. Existing methods applied to positive salient pole (L... q >L d Further exploration and improvement are needed to enhance the utilization rate of reluctance torque in motors.

[0004] On the other hand, from a control perspective, to fully utilize the reluctance torque of the motor and improve its torque output performance, a virtual signal injection-based MTPA (VSI-MTPA) control strategy is generally adopted. However, when applied to positive salient pole motors, the traditional VSI-MTPA control strategy does not consider the effects of motor cross-coupling and saturation, resulting in the MTPA control accuracy being significantly affected by operating conditions. Furthermore, the anti-salient pole characteristics of anti-salient pole motors cause their running trajectory to differ from those of traditional positive salient pole motors in the quadrant and the sign of the d-axis current under VSI-MTPA control. Therefore, there is an urgent need to propose a high-precision VSI-MTPA control strategy suitable for anti-salient pole motors.

[0005] Therefore, it is urgent to overcome the problems of low anti-salient pole ratio and low reluctance torque utilization rate of anti-salient permanent magnet fault-tolerant motors from both the aspects of motor design and control, so as to reduce the influence of cross coupling and saturation effect and improve the torque output capability of the motor. Summary of the Invention

[0006] Purpose of the invention: This invention addresses the problems existing in the prior art by proposing a reluctance-like anti-salient pole fault-tolerant motor based on an active MTPA strategy, along with its driving and design methods. It incorporates VSI-MTPA control precision into the design stage, overcoming the low anti-salient pole ratio and reluctance torque utilization of anti-salient pole permanent magnet fault-tolerant motors from both motor design and control perspectives. This reduces the impact of cross-coupling and saturation effects, thereby improving the motor's torque output capability.

[0007] Technical Solution: To achieve the above-mentioned objectives, this invention provides a reluctance-like anti-salient-pole fault-tolerant motor drive system based on an active MTPA strategy. It includes: a five-phase reluctance-like anti-salient-pole fault-tolerant motor (1), a Park converter module (2), a high-precision VSI-MTPA control module based on a compensation factor (3), a PI controller (4), an inverse Park converter module (5), an SVPWM module (6), and an inverter module (7). Specifically, it includes the following steps:

[0008] Step 1) Design a reluctance-type anti-salient pole fault-tolerant motor based on an active MTPA strategy. By taking VSI-MTPA control accuracy into account in the design phase, good MTPA control accuracy and fault-tolerant performance can be obtained.

[0009] Step 2) In order to fully utilize the superior MTPA control accuracy of the reluctance-type anti-salient pole fault-tolerant motor in Step 1), a corresponding optimal current vector angle and a high-precision VSI-MTPA control strategy based on compensation factors are proposed to further improve the dynamic and steady-state performance of the MTPA control drive system.

[0010] Step 3): Based on the novel reluctance-like anti-salient pole fault-tolerant motor based on the active MTPA strategy in Step 1) and the MTPA control method in Step 2), construct a five-phase reluctance-like anti-salient pole fault-tolerant motor MTPA drive control system.

[0011] Further, in step 1), a reluctance-type anti-salient pole fault-tolerant motor based on an active MTPA strategy is characterized in that: the motor comprises, from the inside out, a rotating shaft (8), a rotor (9), and a stator (10); the stator is composed of a stator yoke (20), armature teeth (12), stator slots (18), and fault-tolerant teeth (13); the armature teeth (12) and fault-tolerant teeth (13) are evenly distributed along the inner circumference of the stator (10), the armature teeth (12) are wound with armature windings (11), the armature windings (11) do not completely fill the stator slots (18), and two adjacent armature windings (11) are isolated by fault-tolerant teeth (13); along the outer circumference of the rotor (9) The main permanent magnets (14) are distributed at directional intervals. The main permanent magnets (14) are embedded rectangular permanent magnets. There is a q-axis magnetic barrier (16) between two adjacent main permanent magnets (14) near the air gap side. The q-axis magnetic barrier (16) and the inner circle of the stator (10) form a non-uniform air gap. There is an asymmetric U-shaped magnetic barrier (17) between two adjacent main permanent magnets (14) near the rotating shaft (8). The asymmetric U-shaped magnetic barrier (17) and the q-axis magnetic barrier (16) form a magnetic bridge (19). There is a rectangular auxiliary permanent magnet (15) at the long end of the asymmetric U-shaped magnetic barrier (17). The auxiliary permanent magnet (15) and the adjacent main permanent magnets (14) are connected in series to form a magnetic pole.

[0012] Furthermore, both the stator (10) and the rotor (9) are made of laminated silicon steel sheets with magnetic permeability and a lamination factor of 0.96; the armature winding (11) is made of enameled copper conductor material, and the shaft (8) is made of non-magnetic material;

[0013] Furthermore, the armature winding (11) is a single-layer concentrated winding.

[0014] Furthermore, the number of stator teeth is a multiple of 2m, and the difference between the number of stator teeth and the number of rotor poles is 4, where m is the number of phases of the motor.

[0015] The q-axis magnetic barrier (16) is located between two adjacent main permanent magnets (14) near the air gap side and is distributed along the circumference of the rotor (9). The asymmetric U-shaped magnetic barrier (17) is located between two adjacent main permanent magnets (14) near the shaft (8).

[0016] Furthermore, the q-axis magnetic barrier (16) is symmetrical about the defined motor q-axis, and the axis of the asymmetric U-shaped magnetic barrier (17) has an offset distance l1 between it and the defined motor q-axis.

[0017] Furthermore, the main permanent magnet (14) and the auxiliary permanent magnet (15) are neodymium iron boron permanent magnets, and the magnetization direction is parallel to the thickness direction of the permanent magnet. The magnetization directions of two adjacent main permanent magnets (14) are opposite, one of which is away from the center and the other is towards the center. The magnetization direction of the auxiliary permanent magnet (15) is along the circumference. The opposite magnetization directions of two adjacent auxiliary permanent magnets (15) make the auxiliary magnetic field and the main magnetic field form a magnetic circuit series.

[0018] Furthermore, there is an offset distance l2 between the axis of the main permanent magnet (14) and the defined motor d-axis.

[0019] Furthermore, the motor generates a single excitation source from a permanent magnet, satisfying the condition that the motor's main magnetic flux = leakage flux + effective main magnetic flux.

[0020] Furthermore, the position of the q-axis magnetic barrier (16) axis is the defined motor q-axis, and the position that differs from it by 90 electrical degrees is the defined motor d-axis.

[0021] This invention provides a reluctance-like anti-salient pole fault-tolerant motor based on an active MTPA strategy, the specific design method of which is as follows:

[0022] Step 1.1) Using the improved slot-pole matching design method of fault-tolerant motor, the number of stator (10) teeth and the number of rotor (9) pole pairs are initially determined. Based on the principle of maximizing the fundamental synthesized vector, the slot vector allocation is determined, which increases the anti-salient pole ratio and reluctance torque utilization of the motor.

[0023] Step 1.2) Set q-axis magnetic barrier (16) and asymmetric U-shaped magnetic barrier (17) between adjacent main permanent magnets (14) to increase cross-axis magnetic reluctance, thereby further improving the anti-salient pole characteristics of the motor;

[0024] Step 1.3) The asymmetric U-shaped magnetic barrier (17) is biased. The offset distance between the axis of the asymmetric U-shaped magnetic barrier (17) and the defined motor q axis is l1, which is beneficial to improve the utilization rate of the motor's reluctance torque.

[0025] Step 1.4) The main permanent magnet (14) is biased, and there is an offset distance l2 between the axis of the main permanent magnet (14) and the defined motor d axis, thereby further improving the reluctance torque utilization rate of the motor;

[0026] Step 1.5) An auxiliary permanent magnet (15) magnetized along the circumferential direction is set at the long end of the asymmetric U-shaped magnetic barrier (17) so that it can provide an auxiliary magnetic field without affecting the d-axis magnetic reluctance and improve the torque output capability of the motor.

[0027] Step 1.6) Optimize the parameters of the main permanent magnet (14), auxiliary permanent magnet (15), q-axis magnetic barrier (16) and asymmetric U-shaped magnetic barrier (17) to obtain good anti-salient pole characteristics and reluctance torque utilization; by considering the VSI-MTPA control accuracy in advance during the motor design stage, the design of a reluctance-like anti-salient pole fault-tolerant motor based on the active MTPA strategy can be realized.

[0028] By designing a reluctance-like anti-salient pole fault-tolerant motor based on an active MTPA strategy, the anti-salient pole ratio and reluctance torque utilization of the motor can be effectively improved, thereby enhancing MTPA control accuracy. To fully realize the superior MTPA control accuracy of the aforementioned reluctance-like anti-salient pole fault-tolerant motor, this invention also provides a corresponding high-precision VSI-MTPA control strategy.

[0029] Furthermore, in step 2), the specific steps for implementing the optimal current vector angle and the high-precision VSI-MTPA control strategy based on the compensation factor are as follows:

[0030] 2.1) By analyzing the current trajectory curve of the five-anti-salient-pole fault-tolerant motor MTPA control, the optimal current vector angle suitable for MTPA control of this type of motor is obtained.

[0031] For a five-phase reluctance anti-salient pole fault-tolerant motor, its electromagnetic torque expression in the synchronous rotating coordinate system is:

[0032]

[0033] In the formula, T e P is the electromagnetic torque. n L is the extreme logarithm; d L q ψ represents the inductance along the d and q axes in the fundamental space, respectively; f I represents the amplitude of the fundamental permanent magnet flux linkage. s θ is the magnitude of the current vector; θ is the angle between the current vector and the q-axis, ranging from 0° to 90°.

[0034] Considering only copper losses, the expression for the mechanical power in steady state is:

[0035]

[0036] In the formula, P m P e p cu These are the motor's mechanical power, input power, and copper losses, respectively; u d u q i d i q These are the direct-axis and quadrature-axis components of the voltage and current in the fundamental frequency space, respectively; R sLet be the stator resistance. Based on the relationship between torque and mechanical power, the expression for electromagnetic torque can be obtained as follows:

[0037]

[0038] In the formula, ω m It is the mechanical angular velocity;

[0039] The MTPA control trajectory of the five-phase reluctance anti-salient pole fault-tolerant motor is in the first quadrant. At this time, the d-axis current corresponding to the optimal current vector angle is positive, and there is no risk of permanent magnet demagnetization in the motor. Its electromagnetic torque equation is the same as that of equation (3). Substituting θ into the equation and taking the partial derivative, and making it equal to zero, we have

[0040]

[0041] Solving equation (4), we obtain the optimal current vector angle θ of the five-phase reluctance anti-salient pole fault-tolerant motor. FI for

[0042]

[0043] From equation (5), the corresponding d-axis current can be obtained as follows:

[0044]

[0045] As can be seen from equation (6), from θ FI The calculated d-axis current is greater than zero, which satisfies the condition that the MTPA control trajectory of the reluctance-type anti-salient pole fault-tolerant motor is in the first quadrant; therefore, the theoretical optimal current vector angle of the five-phase reluctance-type anti-salient pole fault-tolerant motor can be obtained from equation (6).

[0046] 2.2) Based on step 2.1), the dynamic and steady-state performance of the MTPA control drive system is further improved by combining the VSI-MTPA control strategy based on the compensation factor.

[0047] Since the d-axis current controlled by the MTPA of the five-phase reluctance anti-salient pole fault-tolerant motor is greater than zero, its total input power P needs to be reconstructed. e The expression is

[0048]

[0049] Therefore, the mechanical power equation of the five-phase magnetic field-enhanced permanent magnet fault-tolerant synchronous motor is:

[0050]

[0051] The relationship between torque and mechanical power P m / ω m =T e achievable

[0052]

[0053] Substituting equation (9) into equation (3), we get

[0054]

[0055] Injecting a high-frequency signal θ into the current vector angle h It should be noted that currents carrying high-frequency signals require reconstruction due to differences in the MTPA control trajectory. Specifically:

[0056]

[0057] In the formula, These represent the direct-axis and quadrature-axis components of the current, which contain high-frequency signals; A is θ. h The amplitude; ω h Let the frequency be the injected signal frequency. Combining equations (10) and (11), the virtual torque expression for a five-phase reluctance anti-salient pole fault-tolerant motor is obtained as follows:

[0058]

[0059] However, since both are essentially based on power equations, the MTPA point tracking accuracy remains low. Therefore, this paper considers the voltage equation of a five-phase reluctance anti-salient pole fault-tolerant motor and introduces a compensation factor ξ into the virtual torque formula to reduce the error. According to the steady-state voltage equation of this new motor in the synchronous rotating coordinate system, substituting ξ yields...

[0060]

[0061] In the formula, ξ=P n L d Substituting equations (11) and (13) into equation (3), we obtain the corrected compensated virtual torque as follows:

[0062]

[0063] To extract The relevant information is used to expand the Taylor series of equation (13) and filter it through a bandpass filter (BPF).

[0064]

[0065] In the formula, K is the gain of the BPF. After further filtering by a low-pass filter (LPF), a gain proportional to... The constant term; finally, the filtered result is processed by a pure integrator; if the MTPA point has not been reached at this point, the signal processing module outputs the result... The output is proportional to the d-axis reference current, and its output is used by the integrator to adjust the magnitude of the d-axis reference current. If the MTPA point is reached, the output of the signal processing module is zero, and the integrator will generate the given d-axis current for the MTPA control of the five-phase reluctance anti-salient pole fault-tolerant motor.

[0066] Furthermore, in step 3), the reluctance-like anti-salient pole fault-tolerant motor drive system based on the active MTPA strategy is characterized by:

[0067] The five-phase reluctance anti-salient pole fault-tolerant motor (1) serves as the drive motor module of the system, outputting electromagnetic torque T. e Five-phase current i abcde Rotor position and speed information;

[0068] Five-phase current i abcde The feedback quadrature and direct axis current signals are obtained through the Park transformation module (2);

[0069] The high-precision VSI-MTPA control module (3) based on the compensation factor feeds back the mechanical angular velocity ω. m Current signal i dq Voltage signal U dq With the injected high-frequency virtual signal θ h Obtain virtual torque Using the compensation factor ξ To provide compensation, and thereby obtain The relevant information is used to adjust the d-axis reference current using the integrator, thereby obtaining the optimal direct-axis given current i. * d ;

[0070] The PI controller (4) is used to regulate the given current i * d1q1d3q3 With feedback current i d1q1d3q3 The deviation is used to obtain the given quadrature and direct axis voltage signal u. d1q1d3q3 ;

[0071] The inverse Park transform module (5) is used to inverse transform the given quadrature and direct-axis voltage signal u. d1q1d3q3 Obtain the voltage signal u in the stationary coordinate system α1α3β1β3 ;

[0072] The SVPWM module (6) is used to convert the voltage signal u in a given two-phase stationary coordinate system into a signal in a given stationary coordinate system. α1α3β1β3 Modulate the ten PWM pulse signals required to drive the motor;

[0073] The inverter module (7) outputs five-phase voltage signals through ten PWM pulse signals to provide power to the five-phase reluctance anti-salient pole fault-tolerant motor (1).

[0074] The beneficial effects of this invention are:

[0075] (1) This invention, for the first time, comprehensively considers the MTPA control accuracy of the motor drive system from the perspective of motor design and control, and proposes a reluctance-like anti-salient pole fault-tolerant motor drive system based on an active MTPA strategy. By considering MTPA control accuracy in advance at the motor design stage, a reluctance-like anti-salient pole fault-tolerant motor based on an active MTPA strategy is proposed to suppress motor cross-coupling and saturation effects. Simultaneously, for this type of anti-salient pole fault-tolerant motor, a corresponding VSI-MTPA control strategy based on a compensation factor is proposed to achieve high dynamic and steady-state performance to cope with complex and changing operating conditions.

[0076] (2) This invention increases the fault tolerance capability of the motor by using phase redundancy, and at the same time adopts fractional slot concentrated winding, so that different phases of the motor can achieve phase magnetic isolation through fault-tolerant teeth, reducing the magnetic circuit coupling between different phases and greatly improving the reliability of the motor. Unlike traditional motor design, this invention considers the impact of motor cross-coupling and saturation effect on control accuracy, and adopts an improved slot pole matching design method, selecting a slot pole combination of 10 slots / 6 poles, and cleverly setting "q-axis magnetic barrier" and "asymmetric U-shaped magnetic barrier" on the rotor, which increases the reluctance torque component of the motor, reduces the amount of permanent magnets, and at the same time makes the motor have better anti-salient pole characteristics, effectively suppressing motor cross-coupling and saturation effect, and creatively improving the MTPA control accuracy from the perspective of motor design.

[0077] (3) To further improve the utilization rate of reluctance torque, the present invention cleverly offsets the "main permanent magnet" and the "asymmetric U-shaped magnetic barrier" in the motor. The offset distance between the axis of the main permanent magnet and the defined motor d-axis is l2, and the offset distance between the axis of the asymmetric U-shaped magnetic barrier and the defined motor q-axis is l1. This setting enables the magnetic axis to be offset, so that the current angle corresponding to the peak value of reluctance torque is closer to the current angle corresponding to the peak value of permanent magnet torque, thereby improving the utilization rate of reluctance torque.

[0078] (4) In order to further improve the torque output capability of the motor, the present invention cleverly sets an "auxiliary permanent magnet" at the long end of the "asymmetric U-shaped magnetic barrier" to provide an auxiliary magnetic field without affecting the d-axis magnetic reluctance, thereby enhancing the effect of magnetic axis offset and improving the torque output capability of the motor.

[0079] (5) From the perspective of motor drive control, considering the anti-salient pole characteristics of the five-phase reluctance anti-salient pole fault-tolerant motor, and taking into full account the influence of motor cross-coupling and saturation effect under multiple operating conditions, a high-precision VSI-MTPA control strategy based on compensation factor is proposed. This effectively suppresses the influence of motor cross-coupling and saturation effect on MTPA control accuracy, improves the MTPA point tracking accuracy and robustness of the motor VSI-MTPA control system, and has high dynamic and steady-state performance.

[0080] (6) This invention comprehensively improves the MTPA control accuracy of motors from the perspectives of motor design and control, provides new ideas for modern MTPA control theory, and is conducive to promoting the development of MTPA control theory for anti-salient pole fault-tolerant motors. Attached Figure Description

[0081] Figure 1 This is a block diagram of the reluctance-like anti-salient pole fault-tolerant motor drive system based on the active MTPA strategy of the present invention.

[0082] Figure 2 This is a schematic diagram of a reluctance-type anti-salient pole fault-tolerant motor structure based on an active MTPA strategy, as per the present invention.

[0083] Figure 3 for Figure 1 Schematic diagram of the stator structure and armature winding distribution;

[0084] Figure 4 for Figure 1 Enlarged schematic diagram showing the partial structure and geometric dimensions of the central rotor;

[0085] Figure 5 for Figure 1 A schematic diagram of the magnetization of the neodymium iron boron permanent magnets on the intermediate rotor;

[0086] Figure 6 for Figure 1 Schematic diagram of the axis of the asymmetric U-shaped magnetic barrier on the rotor, the axis of the main permanent magnet, and the defined d-axis and q-axis;

[0087] Figure 7 A structural block diagram of a design method for a reluctance-like anti-salient pole fault-tolerant motor based on an active MTPA strategy provided by the present invention;

[0088] Figure 8 The waveform of the motor inductance in this invention;

[0089] Figure 9 The waveforms of the d-axis and q-axis inductances under motor load according to this invention;

[0090] Figure 10 This is a torque separation diagram of the motor of the present invention;

[0091] Figure 11 The current trajectory diagram for the MTPA control of the reluctance-type anti-salient pole fault-tolerant motor of the present invention is shown.

[0092] Figure 12 This is a block diagram of the high-precision VSI-MTPA control module based on compensation factors according to the present invention.

[0093] In the diagram: 1. Five-phase reluctance anti-salient pole fault-tolerant motor; 2. Park converter module; 3. High-precision VSI-MTPA control module based on compensation factor; 4. PI controller; 5. Inverse Park converter module; 6. SVPWM module; 7. Inverter module; 8. Shaft; 9. Rotor; 10. Stator; 11. Armature winding; 12. Armature tooth; 13. Fault-tolerant tooth; 14. Main permanent magnet; 15. Auxiliary permanent magnet; 16. q-axis magnetic barrier; 17. Asymmetric U-shaped magnetic barrier; 18. Stator slot; 19. Magnetic bridge; 20. Stator yoke. Detailed Implementation

[0094] 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.

[0095] Figure 1 The diagram shows the structural block diagram of the reluctance-like anti-salient pole fault-tolerant motor drive system based on the active MTPA strategy of the present invention. The five-phase reluctance-like anti-salient pole fault-tolerant motor (1) serves as the drive motor of the system; the Park transformation module (2) and the inverse Park transformation module (5) are used to decouple the mathematical model in the natural coordinate system; the high-precision VSI-MTPA control module (3) based on the compensation factor is used to control the virtual torque. Provide compensation and obtain The relevant information is used to adjust the d-axis reference current using the integrator, thereby obtaining the optimal direct-axis given current i. * d The PI controller (4) is used to adjust the deviation between the current setpoint and the feedback value to obtain the given voltage control signal; the SVPWM module (6) is used to modulate the voltage signal under the given two-phase stationary coordinate system into the required PWM signal; the inverter module (7) is used to output the five-phase AC signal to provide power to the five-phase reluctance anti-salient pole fault-tolerant motor (1).

[0096] like Figure 2As shown, this invention proposes a reluctance-like anti-salient pole fault-tolerant motor based on an active MTPA strategy. This motor is not limited by the slot-pole matching scheme of traditional fault-tolerant motors, but adopts an improved slot-pole matching design method, selecting a 10-slot / 6-pole slot-pole matching mode. Without affecting the fault-tolerant performance and winding coefficient of the motor, more space is reserved for the permanent magnet and magnetic barrier, thereby providing conditions for the motor to obtain a high anti-salient pole ratio and a high reluctance torque utilization rate. The motor includes, from the inside out, a shaft (8), a rotor (9), and a stator (10). The stator consists of a stator yoke (20), armature teeth (12), stator slots (18), and fault-tolerant teeth (13). The armature teeth (12) and fault-tolerant teeth (13) are evenly distributed along the inner circumference of the stator (10). Armature windings (11) are wound on the armature teeth (12), and the armature windings (11) do not completely fill the stator slots (18). Two adjacent armature windings (11) are isolated by fault-tolerant teeth (13). Main permanent magnets (14) are distributed at intervals along the outer circumference of the rotor. The main permanent magnets (14) are embedded rectangular permanent magnets. Two-phase... A q-axis magnetic barrier (16) exists between adjacent main permanent magnets (14) near the air gap side, and the q-axis magnetic barrier (16) forms a non-uniform air gap with the inner circle of the stator (10); an asymmetric U-shaped magnetic barrier (17) exists between two adjacent main permanent magnets (14) near the rotating shaft (8), and a magnetic bridge (19) is formed between the asymmetric U-shaped magnetic barrier (17) and the q-axis magnetic barrier (16); a rectangular auxiliary permanent magnet (15) exists at the long end of the asymmetric U-shaped magnetic barrier (17), and the auxiliary permanent magnet (15) is connected in series with the adjacent main permanent magnets (14) to form a magnetic pole. The stator (10) and rotor (9) are both made of magnetically conductive materials such as silicon steel sheets, with a stacking coefficient of 0.96; the armature winding (11) is made of enameled copper conductor material, and the rotating shaft (8) is made of non-magnetically conductive material.

[0097] Figure 3 The diagram shows the structure of the stator (10) and the distribution of the armature winding (11). The stator (10) has 10 slots and uses semi-closed circular arc bottom slots. The armature winding (11) is wound on the armature teeth (12) and uses a single-layer concentrated winding. The armature winding (11) is arranged according to... Figure 2 The order of the markings is as follows: "+" indicates the winding input direction, and "-" indicates the winding output direction. The armature windings (11) are isolated by the fault-tolerant teeth (13). The armature teeth (12) and the fault-tolerant teeth (13) adopt an unequal tooth width structure. The tooth width of the armature teeth (12) is W1, and the tooth width of the fault-tolerant teeth (13) is W2, which reduces the magnetic flux saturation of the stator (10) under motor load and is beneficial to the improvement of motor torque.

[0098] Figure 4 This is an enlarged schematic diagram showing the partial structure and geometric dimensions of the rotor (9). The inner and outer diameters of the rotor (9) are R and R, respectively. ri and R roMain permanent magnets (14) are distributed at intervals along the outer circumference of the rotor (9). A q-axis magnetic barrier (16) exists between two adjacent main permanent magnets (14) near the air gap side. The distance from the q-axis magnetic barrier (16) to the center of the rotor (9) is h1, and the width near the shaft is d1. An asymmetrical U-shaped magnetic barrier (17) exists between two adjacent main permanent magnets (14) near the shaft (8). The distance from the asymmetrical U-shaped magnetic barrier (17) to the center of the rotor (9) is h2, and the width near the shaft is d2. The setting of the two layers of magnetic barriers effectively increases the q-axis magnetic reluctance. There is a magnetic bridge (19) between the q-axis magnetic barrier (16) and the asymmetrical U-shaped magnetic barrier (17), which reduces the influence on the d-axis magnetic flux. An auxiliary permanent magnet (15) is set at the long end of the asymmetrical U-shaped magnetic barrier (17), which provides an auxiliary magnetic field without affecting the d-axis magnetic reluctance, strengthens the magnetic axis offset effect, and improves the torque output capability of the motor.

[0099] Figure 5 This is a schematic diagram of the magnetization of neodymium iron boron permanent magnets on the rotor (9). Main permanent magnets (14) are distributed at intervals along the outer circumference of the rotor. The main permanent magnets (14) and adjacent auxiliary permanent magnets (15) form a pair of magnetic poles. The magnetization directions of two adjacent main permanent magnets (14) are opposite, one is away from the center and the other is towards the center. The magnetization direction of the auxiliary permanent magnets (15) is along the circumference. The opposite magnetization directions of two adjacent auxiliary permanent magnets (15) make the auxiliary magnetic field and the main magnetic field form a magnetic circuit series.

[0100] Figure 6 The diagram shows the axis of the asymmetric U-shaped magnetic barrier (17), the axis of the main permanent magnet, and the defined d-axis and q-axis on the rotor. The axis of the q-axis magnetic barrier (16) is defined as the q-axis direction, and the position 90 electrical degrees away from the q-axis direction is defined as the d-axis direction. The inductance corresponding to the quadrature axis of the motor is called the quadrature axis inductance, and the inductance corresponding to the direct axis of the motor is called the direct axis inductance. There is an offset distance l1 between the axis of the asymmetric U-shaped magnetic barrier (17) and the defined q-axis of the motor, and an offset distance l2 between the axis of the main permanent magnet (14) and the defined d-axis of the motor. The offset setting of the asymmetric U-shaped magnetic barrier (17) and the main permanent magnet (14) causes the magnetic axis of the motor to shift, and the current angle corresponding to the peak reluctance torque moves closer to the current angle corresponding to the peak permanent magnet torque, thereby improving the reluctance torque utilization rate.

[0101] Figure 7 The present invention provides a design method for a reluctance-like anti-salient pole fault-tolerant motor based on an active MTPA strategy, the specific steps of which are as follows:

[0102] Step 1.1) Using the improved slot-pole matching design method of fault-tolerant motor, the number of stator (10) teeth and the number of rotor (9) pole pairs are initially determined. Based on the principle of maximizing the fundamental synthesized vector, the slot vector allocation is determined, which increases the anti-salient pole ratio and reluctance torque utilization rate of the motor.

[0103] Step 1.2) Set up a q-axis magnetic barrier (16) and an asymmetric U-shaped magnetic barrier (17) between adjacent main permanent magnets (14) to increase the cross-axis magnetic reluctance, thereby further improving the anti-salient pole characteristics of the motor.

[0104] Step 1.3) The asymmetric U-shaped magnetic barrier (17) is biased. The offset distance between the axis of the asymmetric U-shaped magnetic barrier (17) and the defined motor q axis is l1, which is beneficial to improve the utilization rate of the motor's reluctance torque.

[0105] Step 1.4) The main permanent magnet (14) is biased, and there is an offset distance l2 between the axis of the main permanent magnet (14) and the defined motor d axis, thereby further improving the reluctance torque utilization rate of the motor.

[0106] Step 1.5) An auxiliary permanent magnet (15) magnetized along the circumferential direction is set at the long end of the asymmetric U-shaped magnetic barrier (17) so that it can provide an auxiliary magnetic field without affecting the d-axis magnetic reluctance and improve the torque output capability of the motor.

[0107] Step 1.6) Optimize the parameters of the main permanent magnet (14), auxiliary permanent magnet (15), q-axis magnetic barrier (16), and asymmetric U-shaped magnetic barrier (17) to obtain good anti-salient pole characteristics and reluctance torque utilization. By considering the MTPA control accuracy based on virtual signal injection in advance during the motor design stage, the design of a reluctance-like anti-salient pole fault-tolerant motor based on the active MTPA strategy can be realized.

[0108] Figure 8 The waveform of this motor's inductance shows a high self-inductance and a low mutual inductance component, with mutual inductance accounting for 6.8% of the self-inductance, providing a certain degree of short-circuit current suppression capability. The low magnetic coupling between phases enables phase-to-phase magnetic isolation, improving the motor's fault tolerance.

[0109] Figure 9 The waveforms of the d-axis and q-axis inductances under motor load in this invention are shown. The d-axis inductance of the motor is greater than the q-axis inductance, and the ratio of the d-axis inductance to the q-axis inductance is approximately 1.58. This exhibits good anti-salient pole characteristics, which is beneficial for motor operation without position and reduces the risk of irreversible demagnetization of the permanent magnet during high-speed field weakening. Simultaneously, it increases the reluctance torque component, effectively suppressing cross-coupling and saturation effects, and improving the MTPA control accuracy.

[0110] Figure 10 The diagram shows the torque separation of the motor in this invention. When the output electromagnetic torque is at its maximum, the utilization rate of the permanent magnet torque is 97.5%, and the utilization rate of the reluctance torque is 87.5%. While almost without sacrificing the permanent magnet torque, the utilization rate of the reluctance torque is significantly improved, increasing the motor's torque output capability and reducing its dependence on the permanent magnet.

[0111] Figure 11 This is a current trajectory diagram for the MTPA control of a reluctance-type anti-salient pole fault-tolerant motor of the present invention. For a five-pole anti-salient pole fault-tolerant motor, the electromagnetic torque expression in the synchronous rotating coordinate system is:

[0112]

[0113] In the formula, T e P is the electromagnetic torque. n L is the extreme logarithm; d L q ψ represents the inductance along the d and q axes in the fundamental space, respectively; f I represents the amplitude of the fundamental permanent magnet flux linkage. s θ is the magnitude of the current vector; θ is the angle between the current vector and the q-axis, ranging from 0° to 90°.

[0114] Considering only copper losses, the expression for the mechanical power in steady state is:

[0115]

[0116] In the formula, P m P e p cu These are the motor's mechanical power, input power, and copper losses, respectively; u d u q i d i q These are the direct-axis and quadrature-axis components of the voltage and current in the fundamental frequency space, respectively; R s Let be the stator resistance. Based on the relationship between torque and mechanical power, the expression for electromagnetic torque can be obtained as follows:

[0117]

[0118] In the formula, ω m It is the mechanical angular velocity;

[0119] The MTPA control trajectory of a five-phase reluctance anti-salient pole fault-tolerant motor is in the first quadrant. At this time, the d-axis current corresponding to the optimal current vector angle is positive, and there is no risk of permanent magnet demagnetization in the motor. Its electromagnetic torque equation is the same as that of equation (3). Substituting θ into the equation and taking the partial derivative, and setting it to zero, we have:

[0120]

[0121] Solving equation (4), we obtain the optimal current vector angle θ of the five-phase reluctance anti-salient pole fault-tolerant motor. FI for

[0122]

[0123] From equation (5), the corresponding d-axis current can be obtained as follows:

[0124]

[0125] As can be seen from equation (6), from θ FI The calculated d-axis current is greater than zero, satisfying the condition that the MTPA control trajectory of the reluctance-type anti-salient pole fault-tolerant motor is in the first quadrant. Therefore, the theoretical optimal current vector angle of the five-phase reluctance-type anti-salient pole fault-tolerant motor can be obtained from equation (6).

[0126] Figure 12 This is a block diagram of the high-precision VSI-MTPA control module based on compensation factors according to the present invention, showing the i-values ​​fed back online from the motor. d i q u d u q and ω m All signals must be filtered by a low-pass filter (LPF) to suppress the influence of noise signals. Since the d-axis current of the five-phase reluctance anti-salient-pole fault-tolerant motor MTPA control is greater than zero, its total input power P needs to be reconstructed. e The expression is

[0127]

[0128] Therefore, the mechanical power equation of the five-phase magnetic field-enhanced permanent magnet fault-tolerant synchronous motor is:

[0129]

[0130] The relationship between torque and mechanical power P m / ω m =T e achievable

[0131]

[0132] Substituting equation (9) into equation (3), we get

[0133]

[0134] Injecting a high-frequency signal θ into the current vector angle h It should be noted that currents carrying high-frequency signals require reconstruction due to differences in the MTPA control trajectory. Specifically:

[0135]

[0136] In the formula, These represent the direct-axis and quadrature-axis components of the current, which contain high-frequency signals; A is θ. h The amplitude; ω hLet the frequency be the injected signal frequency. Combining equations (10) and (11), the virtual torque expression for a five-phase reluctance anti-salient pole fault-tolerant motor is obtained as follows:

[0137]

[0138] However, since both are essentially based on power equations, the MTPA point tracking accuracy remains low. Therefore, this paper considers the voltage equation of a five-phase reluctance anti-salient pole fault-tolerant motor and introduces a compensation factor ξ into the virtual torque formula to reduce the error. According to the steady-state voltage equation of this new motor in the synchronous rotating coordinate system, substituting ξ yields...

[0139]

[0140] In the formula, ξ=P n L d Substituting equations (11) and (13) into equation (3), we obtain the corrected compensated virtual torque as follows:

[0141]

[0142] To extract The relevant information is used to expand the Taylor series of equation (13) and filter it through a bandpass filter (BPF).

[0143]

[0144] In the formula, K is the gain of the BPF. After further filtering by a low-pass filter (LPF), a gain proportional to... The constant term; finally, the filtered result is processed by a pure integrator; if the MTPA point has not been reached at this point, the signal processing module outputs the result... The output is proportional to the d-axis reference current, and its output is used by the integrator to adjust the magnitude of the d-axis reference current. If the MTPA point is reached, the output of the signal processing module is zero, and the integrator will generate the given d-axis current for the MTPA control of the five-phase reluctance anti-salient pole fault-tolerant motor.

Claims

1. A reluctance-like anti-salient pole fault-tolerant motor based on an active MTPA strategy, characterized in that: The motor comprises, from the inside out, a shaft (8), a rotor (9), and a stator (10); the stator consists of a stator yoke (20), armature teeth (12), stator slots (18), and tolerance teeth (13); armature teeth (12) and tolerance teeth (13) are evenly distributed along the inner circumference of the stator (10), and armature windings (11) are wound on the armature teeth (12). The armature windings (11) do not completely fill the stator slots (18), and two adjacent armature windings (11) are isolated by tolerance teeth (13); main permanent magnets (14) are distributed along the outer circumference of the rotor (9). (14) An embedded rectangular permanent magnet is used; a q-axis magnetic barrier (16) exists between two adjacent main permanent magnets (14) near the air gap side, and the q-axis magnetic barrier (16) and the inner circle of the stator (10) form a non-uniform air gap; an asymmetric U-shaped magnetic barrier (17) exists between two adjacent main permanent magnets (14) near the rotating shaft (8), and a magnetic bridge (19) is formed between the asymmetric U-shaped magnetic barrier (17) and the q-axis magnetic barrier (16); a rectangular auxiliary permanent magnet (15) exists at the long end of the asymmetric U-shaped magnetic barrier (17), and the auxiliary permanent magnet (15) and the adjacent main permanent magnets (14) are connected in series to form a magnetic pole; The q-axis magnetic barrier (16) is located between two adjacent main permanent magnets (14) near the air gap side and is distributed along the circumference of the rotor (9). The asymmetric U-shaped magnetic barrier (17) is located between two adjacent main permanent magnets (14) near the shaft (8). The q-axis magnetic barrier (16) is symmetrical about the defined motor q-axis. The axis of the asymmetric U-shaped magnetic barrier (17) is offset by a distance l1 from the defined motor q-axis. The main permanent magnets (14) and auxiliary permanent magnets (15) are neodymium iron boron permanent magnets. The magnetization direction is parallel to the thickness direction of the permanent magnet. The magnetization directions of the two adjacent main permanent magnets (14) are opposite. One of them is away from the center and the other is towards the center. The magnetization direction of the auxiliary permanent magnets (15) is along the circumference. The opposite magnetization directions of the two adjacent auxiliary permanent magnets (15) make the auxiliary magnetic field and the main magnetic field form a magnetic circuit series. The axis of the main permanent magnets (14) is offset by a distance l2 from the defined motor d-axis.

2. The motor according to claim 1, characterized in that, The stator (10) and rotor (9) are both made of silicon steel sheets with magnetic conductivity, and the stacking coefficient is 0.

96. The armature winding (11) is made of enameled copper conductor material and is a single-layer concentrated winding. The shaft (8) is made of non-magnetic material. The number of stator teeth is a multiple of 2m, and the difference between the number of stator teeth and the number of rotor poles is 4, where m is the number of phases of the motor.

3. The motor according to claim 1, characterized in that, The motor generates a single excitation source from a permanent magnet, satisfying the condition that the motor's main magnetic flux = leakage flux + effective main magnetic flux.

4. The motor according to claim 1, characterized in that, The position of the q-axis magnetic barrier (16) axis is the defined motor q-axis, and the position that is 90 electrical degrees away from it is the defined motor d-axis.

5. A design method for a reluctance-like anti-salient pole fault-tolerant motor based on the active MTPA strategy described in claim 1, characterized in that, Includes the following steps: Step 1.1) Using the improved slot-pole matching design method of fault-tolerant motor, the number of stator (10) teeth and the number of rotor (9) pole pairs are initially determined. Based on the principle of maximizing the fundamental synthesized vector, the slot vector allocation is determined, which increases the anti-salient pole ratio and reluctance torque utilization of the motor. Step 1.2) Set up a q-axis magnetic barrier (16) and an asymmetric U-shaped magnetic barrier (17) between adjacent main permanent magnets (14) to increase the cross-axis magnetic reluctance, thereby further improving the anti-salient pole characteristics of the motor; Step 1.3) The asymmetric U-shaped magnetic barrier (17) is biased. The offset distance between the axis of the asymmetric U-shaped magnetic barrier (17) and the defined motor q axis is l1, which is beneficial to improve the utilization rate of the motor's reluctance torque. Step 1.4) The main permanent magnet (14) is biased, and there is an offset distance l2 between the axis of the main permanent magnet (14) and the defined motor d axis, thereby further improving the reluctance torque utilization rate of the motor; Step 1.5) An auxiliary permanent magnet (15) magnetized along the circumferential direction is set at the long end of the asymmetric U-shaped magnetic barrier (17) so that it can provide an auxiliary magnetic field without affecting the d-axis magnetic reluctance and improve the torque output capability of the motor. Step 1.6) Optimize the parameters of the main permanent magnet (14), auxiliary permanent magnet (15), q-axis magnetic barrier (16) and asymmetric U-shaped magnetic barrier (17) to obtain good anti-salient pole characteristics and reluctance torque utilization; by considering the control accuracy of MTPA (VSI-MTPA) based on virtual signal injection in advance during the motor design stage, the design of a reluctance-like anti-salient pole fault-tolerant motor based on active MTPA strategy can be realized.

6. A drive control method for a reluctance-like anti-salient pole fault-tolerant motor based on the active MTPA strategy described in claim 1, characterized in that, Includes the following steps: Step 1) Design a reluctance-type anti-salient pole fault-tolerant motor based on an active MTPA strategy as described in claim 1. By comprehensively considering the VSI-MTPA control accuracy during the design phase, good MTPA control accuracy and fault-tolerant performance can be obtained. Step 2) In order to fully utilize the superior MTPA control accuracy of the reluctance-type anti-salient pole fault-tolerant motor in Step 1), a corresponding optimal current vector angle and a high-precision VSI-MTPA control strategy based on compensation factors are proposed to further improve the dynamic and steady-state performance of the MTPA control drive system. Step 3): Based on the novel reluctance-like anti-salient pole fault-tolerant motor based on the active MTPA strategy in Step 1) and the MTPA control method in Step 2), construct a five-phase reluctance-like anti-salient pole fault-tolerant motor MTPA drive control system.

7. The method according to claim 6, characterized in that, In step 2), by analyzing the current trajectory curve of the five-pole anti-salient-pole fault-tolerant motor MTPA control, the optimal current vector angle suitable for the MTPA control of this five-pole anti-salient-pole fault-tolerant motor is obtained. The specific process is as follows: For a five-phase reluctance anti-salient pole fault-tolerant motor, the expression for its electromagnetic torque in the synchronous rotating coordinate system is: (1) ； In the formula, T e P is the electromagnetic torque. n L is the extreme logarithm; d L q ψ represents the inductance along the d and q axes in the fundamental space, respectively; f I represents the amplitude of the fundamental permanent magnet flux linkage. s θ is the magnitude of the current vector; θ is the angle between the current vector and the q-axis, ranging from 0° to 90°. Considering only copper losses, the expression for the mechanical power in steady state can be obtained as follows: (2) ； In the formula, P m P e p cu These are the motor's mechanical power, input power, and copper losses, respectively; u d u q i d i q These are the direct-axis and quadrature-axis components of the voltage and current in the fundamental frequency space, respectively; R s Let be the stator resistance; based on the relationship between torque and mechanical power, the expression for electromagnetic torque can be obtained as follows: (3) ； In the formula, ω m It is the mechanical angular velocity; The MTPA control trajectory of the five-phase reluctance anti-salient pole fault-tolerant motor is in the first quadrant. At this time, the d-axis current corresponding to the optimal current vector angle is positive, and there is no risk of permanent magnet demagnetization in the motor. Its electromagnetic torque equation is the same as that of equation (3). Substituting θ into the equation and taking the partial derivative, and making it equal to zero, we have: (4) ； Solving equation (4), we obtain the optimal current vector angle θ of the five-phase reluctance anti-salient pole fault-tolerant motor. FI for: (5) ； From equation (5), the corresponding d-axis current can be obtained as: (6) ； As can be seen from equation (6), from θ FI The calculated d-axis current is greater than zero, which satisfies the condition that the control trajectory of the MTPA-type reluctance-type anti-salient pole fault-tolerant motor is in the first quadrant. Therefore, the optimal current vector angle of the five-phase reluctance anti-salient pole fault-tolerant motor under MTPA control can be obtained from equation (6).

8. The method according to claim 6, characterized in that, In step 2), based on obtaining the optimal current vector angle, the dynamic and steady-state performance of the MTPA control drive system is further improved by combining a VSI-MTPA control strategy based on compensation factors; specifically: Since the d-axis current controlled by the MTPA of the five-phase reluctance anti-salient pole fault-tolerant motor is greater than zero, its total input power P needs to be reconstructed. e The expression is: (7) ； Therefore, the mechanical power equation of the five-phase magnetic field-enhanced permanent magnet fault-tolerant synchronous motor is: (8) ； The relationship between torque and mechanical power P m / ω m =T e We can obtain: (9) ； Substituting equation (9) into equation (3), we get: (10) ； Injecting a high-frequency signal θ into the current vector angle h It should be noted that currents carrying high-frequency signals require reconstruction due to differences in the MTPA control trajectory. Specifically: (11) ； In the formula, , These represent the direct-axis and quadrature-axis components of the current, which contain high-frequency signals; A is θ. h The amplitude; ω h Given the injected signal frequency; combining equations (10) and (11), the virtual torque expression for a five-phase reluctance anti-salient pole fault-tolerant motor is obtained as follows: (12) ； However, since both are essentially based on power equations, the MTPA point tracking accuracy remains low. Therefore, this paper considers the voltage equation of a five-phase reluctance anti-salient-pole fault-tolerant motor and introduces a compensation factor ξ into the virtual torque formula to reduce the error. According to the steady-state voltage equation of this five-phase reluctance anti-salient-pole fault-tolerant motor in the synchronous rotating coordinate system, substituting ξ yields: (13) ； In the formula, ξ=P n L d Substituting equations (11) and (13) into equation (3), we obtain the corrected compensated virtual torque as follows: (14) ； To extract ∂T e The relevant information of / ∂θ, expanding the Taylor series of equation (13) and filtering it through a bandpass filter (BPF) yields: (15) ； In the formula, K is the gain of the BPF, which is then filtered by a low-pass filter LPF to obtain a value proportional to ∂T. e The constant term of / ∂θ; finally, the filtered result is processed by a pure integrator; if the MTPA point has not been reached at this time, the output of the signal processing module is the same as ∂T. e It is proportional to ∂θ, and its output is used to adjust the magnitude of the d-axis reference current by the integrator; If the MTPA point is reached, the signal processing module outputs zero, and the integrator will generate the given d-axis current for the MTPA control of the five-phase reluctance anti-salient pole fault-tolerant motor.

9. The method according to claim 6, characterized in that, In step 3), the specific process of constructing the five-phase reluctance anti-salient pole fault-tolerant motor MTPA drive control system is as follows: The five-phase reluctance anti-salient pole fault-tolerant motor (1) serves as the drive motor module of the system, outputting electromagnetic torque T. e Five-phase current i abcde Rotor position and speed information; Five-phase current i abcde The feedback quadrature and direct axis current signals are obtained through the Park transformation module (2); The high-precision VSI-MTPA control module (3) based on the compensation factor feeds back the mechanical angular velocity ω. m Current signal i dq Voltage signal U dq With the injected high-frequency virtual signal θ h Obtain virtual torque and using the compensation factor ξ to To make compensation, and thus obtain ∂T e The relevant information of / ∂θ is used to adjust the magnitude of the d-axis reference current by the integrator, thereby obtaining the optimal direct-axis given current i. * d ; The PI controller (4) is used to regulate the given current i * d1q1d3q3 With feedback current i d1q1d3q3 The deviation is used to obtain the given quadrature and direct axis voltage signal u. d1q1d3q3 ; The inverse Park transform module (5) is used to inverse transform the given quadrature and direct-axis voltage signal u. d1q1d3q3 Obtain the voltage signal u in the stationary coordinate system α1α3β1β3 ; The SVPWM module (6) is used to convert the voltage signal u in a given two-phase stationary coordinate system into a signal in a given stationary coordinate system. α1α3β1β3 Modulate the ten PWM pulse signals required to drive the motor; The inverter module (7) outputs a five-phase voltage signal through ten PWM pulse signals to provide power to the five-phase reluctance anti-salient pole fault-tolerant motor (1).

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