Open-circuit normalized fault-tolerant control method for eight-leg dual three-phase permanent magnet synchronous motor

Abstract

The application relates to the field of motor control technology and discloses an open-circuit normalization fault-tolerant control method for an eight-bridge-arm double-three-phase permanent magnet synchronous motor. The application is aimed at solving the problem that the existing technology lacks a fault-tolerant control strategy for the eight-bridge-arm double-three-phase permanent magnet synchronous motor. The application calculates optimal six-phase currents under various fault conditions and converts the optimal six-phase currents into optimal operation currents in alpha-beta, xy and o1o2 planes when offline, and calculates current instruction coefficients under different fault conditions by using the optimal operation currents; when the motor is normally operated online, the bidirectional switches are turned off, the fault-tolerant current instructions in the xy plane and the o1o2 plane are both zero, and the motor is normally operated. When a fault occurs, the fault phase is cut off, the fault-tolerant current instructions in the xy plane and the o1o2 plane are calculated by selecting the current instruction coefficients under the current fault condition, and the fault-tolerant current instructions are injected into the motor, so that the open-circuit normalization fault-tolerant control of the motor winding is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of motor control. Background Art

[0002] Dual three-phase motors are a typical multi-unit, fault-tolerant motor. When a motor phase winding is open-circuited or an inverter arm fails, appropriate redundancy and fault-tolerant control strategies can reduce the motor system's operating capacity. This feature has led to widespread application in high-reliability applications such as aerospace, high-power electric vehicles, and marine electric propulsion.

[0003] Under fault conditions, the derating output capability of dual three-phase motors is closely related to the inverter topology. Compared to typical six-phase half-bridge and six-phase full-bridge topologies (open winding), the dual four-leg topology (six-phase eight-leg) offers significant advantages in terms of component count and derating output capability, making it a promising solution with both research value and application prospects.

[0004] Existing fault-tolerant control strategies primarily include methods based on fault motor models and methods based on fault current injection. However, research on fault-tolerant control strategies for eight-leg dual three-phase permanent magnet synchronous motors is insufficient. Traditional model-based fault-tolerant control schemes are complex to implement because eight-leg topologies and dual three-phase motors exhibit diverse fault types. Classifying each fault type and establishing a fault model for each is cumbersome and difficult to implement in practice. Existing research on fault current methods has largely focused on the typical six-phase half-bridge topology, with limited analysis of eight-leg topologies.

[0005] Therefore, it is of great significance to explore the fault-tolerant control method for open-circuit faults in dual three-phase permanent magnet synchronous motors with eight-leg inverter topology. This will not only improve the reliability and fault tolerance of the motor system, but also provide theoretical support and technical guarantee for practical applications in related fields. Summary of the Invention

[0006] The present invention aims to solve the problem that the existing technology lacks research on fault-tolerant control strategies for eight-bridge-arm dual three-phase permanent magnet synchronous motors, and now provides an eight-bridge-arm dual three-phase permanent magnet synchronous motor winding open-circuit normalization fault-tolerant control method.

[0007] An eight-leg dual three-phase permanent magnet synchronous motor winding open-circuit normalization fault-tolerant control method includes:

[0008] When the eight-leg dual three-phase permanent magnet synchronous motor is offline, all fault conditions are traversed to calculate the optimal six-phase current under various fault conditions. The optimal six-phase current is transformed through the VSD coordinate to obtain the optimal operating current in the αβ, xy and o1o2 planes respectively. The optimal operating current in the αβ, xy and o1o2 planes is used to calculate the current command coefficient under different fault conditions;

[0009] When the eight-bridge-arm dual three-phase permanent magnet synchronous motor is operating normally online, the bidirectional switch K is disconnected. N , so that the fault-tolerant current instructions of the xy plane and the o1o2 plane are both zero, and the eight-bridge-arm dual three-phase permanent magnet synchronous motor operates normally; the bidirectional switch K N Connected in series between the two neutral points of the eight-leg inverter topology of the dual three-phase permanent magnet synchronous motor;

[0010] When a fault occurs in the eight-bridge-arm dual three-phase permanent magnet synchronous motor, the faulty phase is cut off, the current command coefficient under the current fault condition is selected to calculate the fault-tolerant current commands of the xy plane and the o1o2 plane, and the fault-tolerant current commands of the xy plane and the o1o2 plane are injected into the eight-bridge-arm dual three-phase permanent magnet synchronous motor to realize open-circuit normalized fault-tolerant control of the windings of the eight-bridge-arm dual three-phase permanent magnet synchronous motor.

[0011] Furthermore, the calculation of the optimal six-phase current under various fault conditions includes:

[0012] Calculate the optimal six-phase current under various fault conditions according to the following formula

[0013]

[0014] in, and They are and The amplitude of and are the fault-tolerant current instructions for the α-axis and β-axis, i A ~i F is the six-phase sampling current of the eight-bridge-arm dual three-phase permanent magnet synchronous motor;

[0015] Constraint C1:

[0016]

[0017] Among them, i N1 and i N2 are the phase currents of the two bridge arms connected to the neutral points N1 and N2 of the dual three-phase permanent magnet synchronous motor;

[0018] Constraint C2:

[0019] I k ≤I max ,k∈{A,B,C,D,E,F,N1,N2},

[0020] Among them, I k is the k-phase current amplitude, I max is the maximum amplitude of the phase current;

[0021] Constraint C3:

[0022] I g =0, g∈{fault phase};

[0023] Constraint C4:

[0024] I α =I β =I αβ ,

[0025] Among them, I αβ is the current amplitude in the αβ plane and

[0026] Furthermore, the current command coefficients under different fault conditions are calculated using the optimal operating currents of the αβ, xy and o1o2 planes, including:

[0027] Calculate the optimal current coefficient for fault-tolerant operation according to the following formula:

[0028]

[0029] Among them, λ xα ,λ xβ ,λ yα ,λ yβ ,λ o1α ,λ o1β ,λ o2α ,λ o2β are all current command coefficients under the same fault condition. and are the optimal operating currents of the α-axis and β-axis respectively, and are the optimal operating currents for the x-axis and y-axis respectively, and They are the optimal operating currents of the o1 monopolar axis and the o2 monopolar axis respectively.

[0030] Furthermore, the current instruction coefficient under the current fault condition is selected to calculate the fault-tolerant current instruction of the xy plane and the o1o2 plane, including:

[0031] Perform Park transformation on the dq plane current command to obtain the fault-tolerant current command of the α-axis and β-axis under the current working condition and

[0032] Calculate the fault-tolerant current instructions for the xy plane and o1o2 plane according to the following formula:

[0033]

[0034] in, and They are the fault-tolerant current instructions for the x-axis and y-axis respectively, and They are the fault-tolerant current instructions for the o1 unipolar axis and the o2 unipolar axis respectively.

[0035] Furthermore, the eight-bridge-arm dual three-phase permanent magnet synchronous motor winding open-circuit normalization fault-tolerant control method further includes:

[0036] The dq plane current instruction With the feedback current i d 、i q The deviation is input into the PI controller to obtain the dq plane voltage command The dq plane voltage command The αβ plane voltage command is obtained by inverse Park transform

[0037] The fault-tolerant current instruction of the xy plane With the feedback current i x 、i y The deviation is input to the quasi-resonant controller to obtain the xy plane voltage command

[0038] The fault-tolerant current instruction of the o1o2 plane With the feedback current i o1 、i o2 The deviation is input into the quasi-resonant controller to obtain the voltage command of the o1o2 plane

[0039] The αβ plane voltage command, the xy plane voltage command and the o1o2 plane voltage command are subjected to inverse VSD coordinate transformation to obtain the six-phase voltage command

[0040] The six-phase voltage instructions The switching signal of the inverter is generated by inputting it into the zero-sequence injection modulator to complete the control of the eight-bridge-arm dual three-phase permanent magnet synchronous motor.

[0041] Furthermore, the zero-sequence injection modulator includes two modulation methods, which are as follows:

[0042] When the bidirectional switch K N When conducting, a single-pole zero-sequence signal injection modulation method is adopted;

[0043] When the bidirectional switch K N When disconnected, a dual-extreme value zero-sequence signal injection modulation method is adopted.

[0044] Furthermore, in the single-extreme value zero-sequence signal injection modulation method, the single-extreme value zero-sequence signal The expression is as follows:

[0045]

[0046] in, and They are the modulation wave signals of the two bridge arms connected to the neutral points N1 and N2 of the dual three-phase permanent magnet synchronous motor.

[0047] Furthermore, in the dual-extreme value zero-sequence signal injection modulation method, the two zero-sequence signals and The expression is as follows:

[0048]

[0049] Furthermore, the VSD coordinate transformation matrix T VSD for:

[0050]

[0051] Park transformation matrix T Park (θ e )for:

[0052] θ e is the angle between the d-axis and the A-phase axis.

[0053] Quasi-resonant controller control function G QPR (s):

[0054]

[0055] Among them, K p and K i are proportional gain and integral gain respectively, ω e is the resonant frequency, s is the operator, ω c is the cutoff frequency of the resonant controller.

[0056] The beneficial effects of the open-circuit normalized fault-tolerant control method for the windings of an eight-bridge-arm dual three-phase permanent magnet synchronous motor described in the present invention are as follows:

[0057] 1. Greater fault-tolerant output capability: The six-phase eight-leg topology provides greater fault-tolerant output capability than the six-phase half-bridge topology. Compared to the six-phase full-bridge topology, the six-phase eight-leg topology uses fewer switching devices, reducing costs and improving system reliability.

[0058] 2. Simple and efficient fault-tolerant control method: The present invention does not require re-establishing the fault mathematical model or modifying the modulation strategy based on the fault condition. The present invention is low in complexity, easy to implement, and highly practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 This is the topology diagram of the eight-bridge-arm inverter of the dual three-phase permanent magnet synchronous motor;

[0060] Figure 2 This is the block diagram of the six-phase eight-bridge-arm fault-tolerant control current loop;

[0061] Figure 3 Schematic diagram of zero-sequence signal modulation strategy;

[0062] Figure 4 This is the simulation block diagram of six-phase eight-bridge arm fault-tolerant control;

[0063] Figure 5 This is the phase current curve of open-circuit fault-tolerant control of phase A in the eight-leg topology. DETAILED DESCRIPTION

[0064] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other in the absence of conflict.

[0065] Specific embodiment 1: This embodiment aims to provide a normalized fault-tolerant control method for open-circuit windings in a dual three-phase permanent magnet synchronous motor with an eight-leg topology. Different currents are calculated and injected based on different fault conditions to ensure that the motor can output stable torque in the fault state. The details are as follows:

[0066] Reference Figures 1 to 3 Specifically describing this embodiment, the eight-bridge-arm dual three-phase permanent magnet synchronous motor winding open-circuit normalization fault-tolerant control method described in this embodiment includes:

[0067] 1. Hardware topology

[0068] The eight-leg inverter topology of the dual three-phase permanent magnet synchronous motor is as follows: Figure 1 The structure consists of eight bridge arms, six of which are connected to the six-phase windings (A, B, C, D, E, F), and the other two bridge arms are connected to the neutral points N1 and N2 of the motor respectively. The bridge arm output connected to the motor windings contains six bidirectional switches K A , K B , K C , K D , K E , K F , used to isolate the fault phase and prevent the fault from spreading. The neutral points N1 and N2 are connected through a bidirectional switch K NConnection is used to improve the fault-tolerant output capability under fault conditions. The bidirectional switch consists of two anti-parallel IGBTs. Under normal operation, K A ~K F conduction, K N disconnect.

[0069] 2. Fault-tolerant current instructions during normal operation and fault-tolerant operation

[0070] In the offline state of the eight-bridge-arm dual three-phase permanent magnet synchronous motor, the six-phase current i A ~i F Sampling. The dq plane current instruction Perform Park transformation to obtain fault-tolerant current instructions for the α-axis and β-axis and

[0071] Traverse all fault conditions and calculate the optimal six-phase current under various fault conditions

[0072] in, and They are and The amplitude of .

[0073] The four current constraints in the above expression are as follows:

[0074] (1) Current constraint C1:

[0075] According to the inverter topology K N Whether it is conductive or not, determine the winding connection method:

[0076]

[0077] Among them, i N1 and i N2 They are the phase currents of the two bridge arms connected to the neutral points N1 and N2 of the dual three-phase permanent magnet synchronous motor.

[0078] (2) Current constraint C2:

[0079] Determine the current constraints of each bridge arm based on the current capacity of the motor and power devices:

[0080] I k ≤I max ,k∈{A,B,C,D,E,F,N1,N2},

[0081] Among them, the phase current after the fault is all sinusoidal, I k is the k-phase current amplitude, I max is the maximum phase current amplitude.

[0082] (3) Current constraint C3:

[0083] The winding with an open-circuit fault is cut off, and the current of the cut-off bridge arm is equal to zero:

[0084] I g =0, g∈{fault phase}.

[0085] (4) Current constraint C4:

[0086] Ensure that after a fault occurs, the αβ plane magnetic flux is circular:

[0087] I α =I β =I αβ ,

[0088] Among them, I αβ is the current amplitude in the αβ plane and I α and I β i α and i β The amplitude of i α and i β The sampling currents are for the α-axis and β-axis respectively.

[0089] The optimal six-phase current The optimal operating currents in the αβ, xy and o1o2 planes are obtained through VSD coordinate transformation. And the optimal operating current in the αβ plane is the inner product space basis, and the current components of the xy plane, o1 monopole axis, and o2 monopole axis are described as a linear combination of the two:

[0090]

[0091] Obtain the current command coefficient λ under different fault conditions xα ,λ xβ ,λ yα ,λ yβ ,λ o1α ,λ o1β ,λ o2α ,λ o2β .

[0092] When the motor is operating normally, disconnect the bidirectional switch K N , so that the fault-tolerant current instructions of the xy plane and the o1o2 plane are both zero.

[0093] When a motor fault occurs, the fault-tolerant current instructions on the xy plane and o1o2 plane are obtained as follows:

[0094]

[0095] in, and is the fault-tolerant current instruction on the xy plane at time t, and is the fault-tolerant current instruction of the unipolar axis o1 and the unipolar axis o2 at time t, and is the fault-tolerant current command of the α-axis and β-axis at time t.

[0096] 3. Six-dimensional current vector control

[0097] The six-dimensional current vector control block diagram of dual three-phase permanent magnet synchronous motor is as follows Figure 2 As shown. The collected six-phase current i A ~i F Transformed into i by VSD α ,i β ,i x ,i y ,i o1 ,i o2 . VSD coordinate transformation matrix T VSD for:

[0098]

[0099] Feedback current i on αβ plane α 、i β Through Park transformation, it is transformed into dq plane feedback current i d 、i q . Where Park transformation matrix T Park (θ e )for:

[0100] θ e is the angle between the d-axis and the A-phase axis.

[0101] dq plane feedback current i d 、i q With current instruction The deviation is input into the PI controller to obtain the dq plane voltage command dq plane voltage command Then the αβ plane voltage command is obtained by inverse Park transformation

[0102] The fault-tolerant current instruction of the xy plane With the feedback current i x 、i y The deviation is input to the quasi-resonant controller to obtain the xy plane voltage command

[0103] The fault-tolerant current instruction of the o1o2 plane With the feedback current i o1 、i o2 The deviation is input into the quasi-resonant controller to obtain the voltage command of the o1o2 plane

[0104] Quasi-resonant controller control function G QPR (s):

[0105]

[0106] Among them, K p and K i are proportional gain and integral gain respectively, ω e is the resonant frequency, s is the operator, ω c is the cutoff frequency of the resonant controller.

[0107] Voltage command Perform inverse VSD coordinate transformation to obtain six-phase voltage instructions The six-phase voltage instructions The switching signal of the inverter is generated by inputting it into the zero-sequence injection modulator to complete the control of the eight-bridge-arm dual three-phase permanent magnet synchronous motor.

[0108] like Figure 3 As shown in the figure, the zero-sequence injection modulation method is divided into two cases according to different neutral point connection conditions:

[0109] (1) When K N When conducting, a single-pole zero-sequence signal injection modulation method is used, and the injected single-pole zero-sequence signal It is the modulation wave signal of the N1 and N2 bridge arms.

[0110] The single-pole zero-sequence signal is expressed as:

[0111]

[0112] in, and They are the modulation wave signals of the two bridge arms connected to the neutral points N1 and N2 of the dual three-phase permanent magnet synchronous motor.

[0113] (2) When K N When disconnected, a dual-extreme value zero-sequence signal injection modulation method is adopted, and the two zero-sequence signals and They are the modulation wave signals of the N1 and N2 bridge arms respectively.

[0114] The double-extreme zero-sequence signal is expressed as:

[0115]

[0116] Specific implementation method 2: This implementation method takes the open circuit of the A-phase winding as an example to illustrate the implementation process of the normalized fault-tolerant method of the eight-bridge-leg topology of the dual three-phase permanent magnet synchronous motor.

[0117] Figure 4 The overall block diagram of a fault-tolerant simulation of a six-phase, eight-leg generator is presented. The main circuit consists of a DC power supply, DC load, eight-leg inverter, filter, and dual three-phase permanent magnet synchronous motors. The current control strategy uses a dual-PI four-PR control structure with VSD decoupling, and the modulation strategy employs zero-sequence injection PWM. Simulation conditions include 50% rated load and a 0.01s open circuit of phase A.

[0118] When the A phase winding is open, K N When fault tolerance is disconnected, the optimal current solution is:

[0119]

[0120] When I max =1.0pu and I αβ =0.5pu, the optimal current coefficient for fault-tolerant operation is:

[0121] λ xα =-0.5562,λ xβ =-0.4438,λ yα =0,λ yβ =0,λ o1α =0,λ o1β =0,λ o2α =-0.2192,

[0122] λ o2β =0.2043.

[0123] Substitute the obtained parameters into the following formula to calculate the optimal current for fault-tolerant operation:

[0124]

[0125] The calculated current is injected into the motor through six-dimensional current vector control to achieve fault-tolerant operation of the motor. After simulating fault tolerance, the motor dq axis current remains stable, which means that the motor can output stable torque, such as Figure 5 (a) K N The fault tolerance method for conduction is consistent with the above calculation method. The simulation results are as follows: Figure 5 As shown in (b), after fault tolerance, the dq axis current remains stable and can output a stable torque.

[0126] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It should be understood that many modifications may be made to the illustrative embodiments, and that other arrangements may be devised, without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in ways other than those described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in conjunction with other described embodiments.

Claims

1. An eight-leg dual three-phase permanent magnet synchronous motor winding open-circuit normalization fault-tolerant control method, characterized in that: include: When the eight-leg dual three-phase permanent magnet synchronous motor is offline, all fault conditions are traversed to calculate the optimal six-phase current under various fault conditions. The optimal six-phase current is transformed through the VSD coordinate to obtain the optimal operating current in the αβ, xy and o1o2 planes respectively. The optimal operating current in the αβ, xy and o1o2 planes is used to calculate the current command coefficient under different fault conditions; When the eight-bridge-arm dual three-phase permanent magnet synchronous motor is operating normally online, the bidirectional switch K is disconnected. N , so that the fault-tolerant current instructions of the xy plane and the o1o2 plane are both zero, and the eight-bridge-arm dual three-phase permanent magnet synchronous motor operates normally; the bidirectional switch K N Connected in series between the two neutral points of the eight-leg inverter topology of the dual three-phase permanent magnet synchronous motor; When a fault occurs in the eight-bridge-arm dual three-phase permanent magnet synchronous motor, the fault phase is cut off, the current command coefficient under the current fault condition is selected to calculate the fault-tolerant current command of the xy plane and the o1o2 plane, and the fault-tolerant current command of the xy plane and the o1o2 plane is injected into the eight-bridge-arm dual three-phase permanent magnet synchronous motor to realize open-circuit normalized fault-tolerant control of the windings of the eight-bridge-arm dual three-phase permanent magnet synchronous motor; The calculation of the optimal six-phase current under various fault conditions includes: Calculate the optimal six-phase current under various fault conditions according to the following formula in, and They are and The amplitude of and are the fault-tolerant current instructions for the α-axis and β-axis, i A :i F is the six-phase sampling current of the eight-bridge-arm dual three-phase permanent magnet synchronous motor; Constraint C1: Among them, i N1 and i N2 are the phase currents of the two bridge arms connected to the neutral points N1 and N2 of the dual three-phase permanent magnet synchronous motor; Constraint C2: I k ≤I max ,k∈{A,B,C,D,E,F,N1,N2}, Among them, I k is the k-phase current amplitude, I max is the maximum amplitude of the phase current; Constraint C3: I g =0, g∈{fault phase}; Constraint C4: I α =I β =I αβ , Among them, I αβ is the current amplitude in the αβ plane and The method of calculating the current command coefficient under different fault conditions using the optimal operating currents of the αβ, xy and o1o2 planes includes: Calculate the optimal current coefficient for fault-tolerant operation according to the following formula: Among them, λ xα ,λ xβ ,λ yα ,λ yβ ,λ o1α ,λ o1β ,λ o2α ,λ o2β are all current command coefficients under the same fault condition. and are the optimal operating currents of the α-axis and β-axis respectively, and are the optimal operating currents for the x-axis and y-axis respectively, and are the optimal operating currents of the o1 monopolar axis and o2 monopolar axis respectively; The selecting of the current command coefficient under the current fault condition to calculate the fault-tolerant current command on the xy plane and the o1o2 plane includes: Perform Park transformation on the dq plane current command to obtain the fault-tolerant current command of the α-axis and β-axis under the current working condition and Calculate the fault-tolerant current instructions for the xy plane and o1o2 plane according to the following formula: in, and They are the fault-tolerant current instructions for the x-axis and y-axis respectively, and They are the fault-tolerant current instructions for the o1 unipolar axis and the o2 unipolar axis respectively.

2. The eight-bridge-arm dual three-phase permanent magnet synchronous motor winding open-circuit normalization fault-tolerant control method according to claim 1, characterized in that: Also includes: The dq plane current instruction With the feedback current i d 、i q The deviation is input into the PI controller to obtain the dq plane voltage command The dq plane voltage command The αβ plane voltage command is obtained by inverse Park transform The fault-tolerant current instruction of the xy plane With the feedback current i x 、i y The deviation is input to the quasi-resonant controller to obtain the xy plane voltage command The fault-tolerant current instruction of the o1o2 plane With the feedback current i o1 、i o2 The deviation is input into the quasi-resonant controller to obtain the voltage command of the o1o2 plane The αβ plane voltage command, the xy plane voltage command and the o1o2 plane voltage command are subjected to inverse VSD coordinate transformation to obtain the six-phase voltage command The six-phase voltage instructions The switching signal of the inverter is generated by inputting it into the zero-sequence injection modulator to complete the control of the eight-bridge-arm dual three-phase permanent magnet synchronous motor.

3. The eight-bridge-arm dual three-phase permanent magnet synchronous motor winding open-circuit normalization fault-tolerant control method according to claim 2, characterized in that: The zero-sequence injection modulator includes two modulation methods, which are as follows: When the bidirectional switch K N When conducting, a single-pole zero-sequence signal injection modulation method is adopted; When the bidirectional switch K N When disconnected, a dual-extreme value zero-sequence signal injection modulation method is adopted.

4. The eight-bridge-arm dual three-phase permanent magnet synchronous motor winding open-circuit normalization fault-tolerant control method according to claim 3, characterized in that: In the single extreme value zero sequence signal injection modulation method, the single extreme value zero sequence signal The expression is as follows: in, and They are the modulation wave signals of the two bridge arms connected to the neutral points N1 and N2 of the dual three-phase permanent magnet synchronous motor.

5. The eight-bridge-arm dual three-phase permanent magnet synchronous motor winding open-circuit normalization fault-tolerant control method according to claim 4, characterized in that: In the dual-extreme value zero-sequence signal injection modulation method, the two zero-sequence signals and The expression is as follows:

6. The eight-bridge-arm dual three-phase permanent magnet synchronous motor winding open-circuit normalization fault-tolerant control method according to claim 2, characterized in that: VSD coordinate transformation matrix T VSD for: Park transformation matrix T Park (θ e )for: θ e is the angle between the d-axis and the A-phase axis.

7. The eight-bridge-arm dual three-phase permanent magnet synchronous motor winding open-circuit normalization fault-tolerant control method according to claim 2, characterized in that: Quasi-resonant controller control function G QPR (s): Among them, K p and K i are proportional gain and integral gain respectively, ω e is the resonant frequency, s is the operator, ω c is the cutoff frequency of the resonant controller.

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