Control method and system of six-phase road feeling motor and six-phase road feeling motor

Abstract

The embodiment of the invention discloses a control method and system for a six-phase road feeling motor and the six-phase road feeling motor, and the control method comprises the steps: enabling a main controller to enter a zero position self-learning mode based on a received zero position self-learning instruction, and judging whether an auxiliary controller needs to start zero position self-learning or not based on the zero position self-learning instruction; if the judgment result is needed, the main controller stores a main control self-learning result for later use after completing zero self-learning, and controls the auxiliary controller to start zero self-learning; and if the judgment result is not needed, the main controller directly stores the main control self-learning result for later use after finishing zero self-learning. According to the method and the device, the main controller and the auxiliary controller can be controlled to perform zero self-learning by using one zero self-learning instruction, so that the technical problem that the control logic is tedious when the zero self-learning of each controller is performed on the six-phase road feeling motor controlled by a plurality of controllers in the prior art is solved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of motor control, and in particular to a control method and system for a six-phase road induction motor and a six-phase road induction motor. Background Art

[0002] With the continuous iteration of intelligent driving technology, intelligent driving is getting closer and closer to us; the wire-controlled steering system has potential advantages in steering feel optimization, spatial layout, low-speed flexibility, vehicle lateral response characteristics, passive safety, etc.; the wire-controlled steering consists of two parts, the upper turn HWA (Hand Wheel Actuator) and the lower turn RWA (Road Wheel Actuator); the road sense HWA is composed of a steering wheel, an angle sensor, an angle torque sensor, a reducer, a road sense simulation actuator, a controller, a mechanical limit device, etc.; at present, in order to meet the functional safety redundancy requirements, the road sense simulation actuator is generally a six-phase motor.

[0003] In the driving process of the six-phase induction motor, the current commutation needs to be based on the mechanical position of the motor rotor, so the motor is often equipped with a position sensor to detect the mechanical position of the motor rotor. However, there is often a deviation between the rotor position detected by the position sensor and the actual mechanical position of the motor rotor. In order to ensure the measurement accuracy of the mechanical position of the motor rotor, the motor controller generally supports zero-position self-learning, and automatically performs correction compensation after determining the zero-position angle through the zero-position self-learning process test.

[0004] For a six-phase road sensing motor, when there is more than one controller to control the six-phase road sensing motor, each controller needs to be controlled to perform zero-position self-learning, and the control logic is complicated. Summary of the invention

[0005] The embodiments of the present invention provide a control method and system for a six-phase road-sensing motor, and a six-phase road-sensing motor, which solve the technical problem of complicated control logic when performing zero-position self-learning of each controller for a six-phase road-sensing motor controlled by multiple controllers in the prior art.

[0006] In a first aspect, an embodiment of the present invention provides a control method for a six-phase road induction motor, which is applied to a control system of the six-phase road induction motor, wherein the control system includes a main controller and an auxiliary controller, wherein the main controller and the auxiliary controller each control a three-phase coil of the six-phase road induction motor, and the control method includes:

[0007] The main controller enters the zero-position self-learning mode based on the received zero-position self-learning instruction, and determines whether the auxiliary controller needs to start zero-position self-learning based on the zero-position self-learning instruction;

[0008] If the result of the judgment is that it is necessary, after the main controller completes the zero-position self-learning, the main controller self-learning result is stored for standby use, and the auxiliary controller is controlled to start the zero-position self-learning;

[0009] If the judgment result is that it is not necessary, after the main controller completes the zero-position self-learning, the main controller self-learning result is directly stored for standby use.

[0010] In a second aspect, an embodiment of the present invention further provides a control system for a six-phase road induction motor, the control system comprising a main controller and an auxiliary controller; the main controller and the auxiliary controller each control a three-phase coil of the six-phase road induction motor;

[0011] The main controller includes a main control self-learning unit and a first storage unit, and the auxiliary controller includes an auxiliary control self-learning unit and a second storage unit;

[0012] The main control self-learning unit enters the zero-position self-learning mode based on the received zero-position self-learning instruction, and judges whether the auxiliary controller needs to start zero-position self-learning based on the zero-position self-learning instruction; if the judgment result is necessary, after the main control self-learning unit completes the zero-position self-learning, the main control self-learning result is stored in the first storage unit for standby use, and the auxiliary control self-learning unit is controlled to start zero-position self-learning; if the judgment result is not necessary, after the main control self-learning unit completes the zero-position self-learning, the main control self-learning result is directly stored in the first storage unit for standby use;

[0013] After the auxiliary control self-learning unit completes the zero-position self-learning, the auxiliary control self-learning result is stored in the second storage unit.

[0014] In a third aspect, an embodiment of the present invention further provides a six-phase road sensing motor, wherein the six-phase road sensing motor includes the control system of the six-phase road sensing motor described in any of the above embodiments.

[0015] The embodiment of the present invention discloses a control method, system and six-phase road-sensing motor, and the control method includes: the main controller enters the zero-position self-learning mode based on the received zero-position self-learning instruction, and judges whether the auxiliary controller needs to start zero-position self-learning based on the zero-position self-learning instruction; if the judgment result is needed, after the main controller completes the zero-position self-learning, the main control self-learning result is stored for standby use, and the auxiliary controller is controlled to start zero-position self-learning; if the judgment result is not needed, after the main controller completes the zero-position self-learning, the main control self-learning result is directly stored for standby use. This application can control both the main controller and the auxiliary controller to perform zero-position self-learning by using one zero-position self-learning instruction, which solves the technical problem of complicated control logic when performing zero-position self-learning of each controller for a six-phase road-sensing motor controlled by multiple controllers in the prior art, and realizes the technical effect of controlling the main and auxiliary controllers to perform zero-position self-learning with one instruction, simplifying the control logic and reducing the operation steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a flow chart of a control method of a six-phase road induction motor provided by an embodiment of the present invention;

[0017] Figure 2 It is a logic block diagram of the main and auxiliary controllers jointly performing zero-position self-learning provided by an embodiment of the present invention;

[0018] Figure 3 It is a logic block diagram of the main controller performing zero-position self-learning provided by an embodiment of the present invention;

[0019] Figure 4 It is a structural diagram of a control system of a six-phase induction motor provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0021] It should be noted that the terms "first", "second", etc. in the specification, claims and drawings of the present invention are used to distinguish different objects, rather than to limit a specific order. The following embodiments of the present invention can be implemented separately, or in combination with each other, and the embodiments of the present invention do not impose specific limitations on this.

[0022] Figure 1The control method of the six-phase road induction motor is applied to the control system of the six-phase road induction motor, and the control system includes a main controller and an auxiliary controller, and the main controller and the auxiliary controller each control the three-phase coil of the six-phase road induction motor.

[0023] like Figure 1 As shown, the control method of the six-phase induction motor specifically includes the following steps:

[0024] S101, the main controller enters the zero-position self-learning mode based on the received zero-position self-learning instruction, and determines whether the auxiliary controller needs to start zero-position self-learning based on the zero-position self-learning instruction.

[0025] Specifically, when the self-learning triggering condition is met, the detection personnel will send a zero-position self-learning instruction to the main control self-learning unit in the main controller through a human-machine exchange device, such as a button, etc. The instruction carries a zero-position self-learning flag AngleOffset Study_Start_P and a zero-position self-learning object flag, wherein the zero-position self-learning object flag is a flag indicating whether a single-channel controller (i.e., the main controller) or the main and auxiliary controllers need to perform zero-position self-learning together. After receiving the zero-position self-learning instruction, the main controller controls the entry into the zero-position self-learning mode and starts zero-position self-learning. At the same time, according to the zero-position self-learning object flag in the instruction, it is determined whether the auxiliary controller also needs to start zero-position self-learning.

[0026] S102, if the judgment result is necessary, after the main controller completes the zero-position self-learning, the main controller self-learning result is stored for standby use, and the auxiliary controller is controlled to start the zero-position self-learning.

[0027] Specifically, if the zero-position self-learning object flag in the zero-position self-learning instruction indicates that the auxiliary controller also needs to perform zero-position self-learning, the main controller will store the main control self-learning result in its own storage unit after completing the zero-position self-learning, and control the auxiliary controller to start zero-position self-learning. The storage unit in the main controller is Nvm (Non-Volatile Memory, non-volatile memory), which can still retain data in the case of power failure, ensuring that the zero-position self-learning result will not be lost due to power failure.

[0028] S103, if the judgment result is not necessary, after the main controller completes the zero position self-learning, the main control self-learning result is directly stored for standby use.

[0029] Specifically, if the zero-position self-learning object flag in the zero-position self-learning instruction indicates that the auxiliary controller does not need to perform zero-position self-learning, then after the main controller completes the zero-position self-learning, it can directly store the main control self-learning result in its own storage unit without having to control the auxiliary controller to perform other actions.

[0030] The present application uses one zero-position self-learning instruction to control both the main controller and the auxiliary controller to perform zero-position self-learning, thereby solving the technical problem of complicated control logic when performing zero-position self-learning of each controller for a six-phase induction motor controlled by multiple controllers in the prior art. The application realizes the technical effect of controlling the main and auxiliary controllers to perform zero-position self-learning with one instruction, simplifying the control logic and reducing the operating steps.

[0031] In some embodiments, the main controller controls the auxiliary controller to start zero-position self-learning, including: after completing the zero-position self-learning, the main controller generates a main control self-learning completion flag; the main controller sends the zero-position self-learning instruction and the main control self-learning completion flag to the auxiliary controller; the auxiliary controller enters the zero-position self-learning mode based on the received zero-position self-learning instruction and the main control self-learning completion flag.

[0032] Figure 2 1 is a logic block diagram of the main and auxiliary controllers jointly performing zero-position self-learning provided by an embodiment of the present invention. Specifically, the main controller MCU1 controls the auxiliary controller MCU2 to start zero-position self-learning. Figure 2 As shown, the main control self-learning unit of the main controller MCU1 receives the zero-position self-learning instruction. When the main controller MCU1 completes the zero-position self-learning, a main control self-learning completion flag Angle Offset Study_Finish_P is generated; the main controller MCU1 sends the zero-position self-learning flag Angle Offset Study_Start_P and the main control self-learning completion flag Angle OffsetStudy_Finish_P in the zero-position self-learning instruction to the auxiliary controller MCU2; there is a logic AND operator in the auxiliary controller MCU2. When the logic AND operator receives the zero-position self-learning flag Angle Offset Study_Start_P and the main control self-learning completion flag Angle Offset Study_Finish_P at the same time, an auxiliary control self-learning start flag Angle Offset Study_Start_S is generated. After receiving the auxiliary control self-learning start flag Angle OffsetStudy_Start_S, the auxiliary control self-learning unit in the auxiliary controller MCU2 enters the zero-position self-learning mode, so that the auxiliary controller MCU2 starts zero-position self-learning.

[0033] Optionally, after the auxiliary controller starts zero-position self-learning, the control method further includes:

[0034] After completing the zero-position self-learning, the auxiliary controller sends an auxiliary control self-learning completion flag to the main controller and stores the auxiliary control self-learning result for standby use; the main controller determines whether the zero-position self-learning process of the six-phase road induction motor is completed based on the generated main control self-learning completion flag and the received auxiliary control self-learning completion flag.

[0035] Specifically, see Figure 2 After completing the zero-position self-learning, the auxiliary controller MCU2 generates an auxiliary control self-learning completion flag Angle Offset Study_Finish_S and transmits it to the main controller MCU1. The main controller MCU1 determines that the zero-position self-learning process of the six-phase road induction motor is completed based on the main control self-learning completion flag Angle Offset Study_Finish_P generated by itself and the received auxiliary control self-learning completion flag Angle Offset Study_Finish_S, and ends the zero-position self-learning process.

[0036] Optionally, after the main controller determines that the zero-position self-learning of the six-phase road induction motor is completed, the control method also includes: powering on the control system of the six-phase road induction motor; the main controller and the auxiliary controller each analyze the current mechanical position of the six-phase road induction motor; the main controller and the auxiliary controller each read the target zero-position value in the zero-position self-learning results stored in each; the main controller and the auxiliary controller respectively use their respective target zero-position values ​​and the current mechanical position to obtain the motor electrical angle value; the main controller and the auxiliary controller respectively use their respective motor electrical angle values ​​to control the action of the six-phase road induction motor.

[0037] Specifically, when the six-phase road-sensing motor completes zero-position self-learning and needs to read the zero position, first the control system of the six-phase road-sensing motor is powered on, then the main controller and the auxiliary controller are powered on, and there is a motor position sensor (Motor Position Sensor, MPS) in each of the main controller and the auxiliary controller. The two motor position sensors respectively obtain the current mechanical position Motor_Angle of each of the six-phase road-sensing motors controlled. There is a position processing module in each of the main controller and the auxiliary controller. The position processing module in the main controller reads the target zero position value NvBlock_Motor_AngleOffset_P in the zero-position self-learning result stored in the main controller, and uses the target zero position value NvBlock_Motor_AngleOffset_P and the current mechanical position Motor_Angle to determine the motor electrical angle value PositionEAngle, and finally The six-phase road feel and motor action are controlled by using the respective motor electrical angle values ​​PositionEAngle. Similarly, the position processing module in the auxiliary controller reads the target zero position value NvBlock_Motor_AngleOffset_S in the zero position self-learning result stored in the auxiliary controller, and uses the target zero position value NvBlock_Motor_AngleOffset_S and the current mechanical position Motor_Angle to determine the motor electrical angle value PositionEAngle, and finally uses the respective motor electrical angle values ​​PositionEAngle to control the six-phase road feel and motor action.

[0038] Optionally, the main controller and the auxiliary controller respectively read the target zero position value in the zero position self-learning result stored respectively, including:

[0039] The main controller and the auxiliary controller each read the zero position value stored in each of them, and each determines whether the zero position value is valid; if valid, the zero position value is used as the target zero position value; if invalid, it is determined that the corresponding controller has not performed zero position self-learning, and an alarm is prompted.

[0040] Specifically, the position processing modules in the main controller and the auxiliary controller respectively read the zero position value NvBlock_Motor_AngleOffset_P and the zero position value NvBlock_Motor_AngleOffset_S in the zero position self-learning results stored in the corresponding controller. If the zero position value NvBlock_Motor_AngleOffset_P or the zero position value NvBlock_Motor_AngleOffset_S is 0xFFFF, it indicates invalidity, and it is determined that the corresponding controller has not performed zero position self-learning, then it is prompted that zero position self-learning is required; if the value of the zero position value NvBlock_Motor_AngleOffset_P or the zero position value NvBlock_Motor_AngleOffset_S is between 0-4095, then the zero position value is directly used as the target zero position value.

[0041] Optionally, the main controller and the auxiliary controller use their respective target zero position values ​​and current mechanical positions to obtain the motor electrical angle value, including:

[0042] The main controller and the auxiliary controller respectively use the product of the current mechanical position and the number of pole pairs of the six-phase induction motor minus the target zero position value to obtain the motor electrical angle value.

[0043] Specifically, after reaching the effective zero position value, that is, the target zero position value, the main controller and the auxiliary controller respectively use the current mechanical position multiplied by the pole pair number of the six-phase road induction motor, and then subtract the target zero position value NvBlock_Motor_AngleOffset_P or the zero position value NvBlock_Motor_AngleOffset_S to obtain their respective motor electrical angle values ​​PositionEAngle.

[0044] Optionally, the main controller and the auxiliary controller respectively use their own motor electrical angle values ​​to control the six-phase road sensor motor action, including:

[0045] The main controller and the auxiliary controller respectively use their own motor electrical angle values ​​to perform magnetic field oriented control operations, and the obtained operation results are modulated by space vector pulse width to obtain the control signal of the six-phase road induction motor; the main controller and the auxiliary controller use the obtained control signal to control the action of the six-phase road induction motor.

[0046] Specifically, after obtaining the motor electrical angle value PositionEAngle, the main controller and the auxiliary controller respectively use their respective motor electrical angle values ​​PositionEAngle to perform field-oriented control operations (Field-Oriented Control, FOC), and the calculation results are then subjected to space vector pulse width modulation (Space Vector Pulse Width Modulation, SVPWM) to obtain the control signal of the six-phase road-sensing motor, and finally the six-phase road-sensing motor is controlled using the control signals obtained.

[0047] The following is a specific example to illustrate the process of the main controller performing zero-position self-learning and zero-position reading independently.

[0048] For example, Figure 3 This is a logic block diagram of the main controller performing zero-position self-learning provided by an embodiment of the present invention. Figure 3 After receiving the zero-position self-learning flag Angle Offset Study_Start_P in the zero-position self-learning instruction, the main controller MCU1 performs zero-position self-learning, generates the main control self-learning completion flag AngleOffset Study_Finish_P after the zero-position self-learning is completed, and stores the main control self-learning result PositionEAngle Offset_P in its own storage unit Nvm1.

[0049] When it is necessary to read the zero position, the main controller MCU1 is powered on, and the motor position sensor MPS1 in the main controller MCU1 obtains the current mechanical position Motor_Angle of the six-phase road sensing motor. The position processing module reads the target zero position value NvBlock_Motor_AngleOffset_P in the zero position self-learning result stored in the main controller MCU1 (wherein the target zero position value NvBlock_Motor_AngleOffset_P is the stored main control self-learning result PositionEAngle Offset_P), and uses the target zero position value NvBlock_Motor_AngleOffset_P and the current mechanical position Motor_Angle to determine the motor electrical angle value PositionEAngle, and finally uses the motor electrical angle value PositionEAngle to perform FOC operation, and the obtained operation result is then subjected to space vector pulse width modulation SVPWM to obtain the control signal of the six-phase road sensing motor, and finally the obtained control signal is used to control the six-phase road sensing motor.

[0050] Figure 4 It is a structural diagram of a control system of a six-phase induction motor provided in an embodiment of the present invention.

[0051] like Figure 4 As shown, the control system includes a main controller MCU1 and an auxiliary controller MCU2; the main controller MCU1 and the auxiliary controller MCU2 each control a three-phase coil of a six-phase induction motor.

[0052] The main controller MCU1 includes a main control self-learning unit CONTROL1 and a first storage unit Nvm1, and the auxiliary controller includes an auxiliary control self-learning unit CONTROL2 and a second storage unit Nvm2;

[0053] The main control self-learning unit CONTROL1 enters the zero-position self-learning mode based on the received zero-position self-learning instruction, and judges whether the auxiliary controller MCU2 needs to start zero-position self-learning based on the zero-position self-learning instruction; if the judgment result is necessary, after the main control self-learning unit CONTROL1 completes the zero-position self-learning, the main control self-learning result is stored in the first storage unit Nvm1 for standby use, and the auxiliary control self-learning unit CONTROL2 is controlled to start zero-position self-learning; if the judgment result is not necessary, after the main control self-learning unit CONTROL1 completes the zero-position self-learning, the main control self-learning result is directly stored in the first storage unit Nvm1 for standby use;

[0054] After the auxiliary control self-learning unit CONTROL2 completes the zero-position self-learning, the auxiliary control self-learning result is stored in the second storage unit Nvm2.

[0055] Optionally, the main controller MCU1 and the auxiliary controller MCU2 are communicated with each other via a controller area network bus CAN or a serial peripheral interface SPI.

[0056] Specifically, see Figure 2 and Figure 4 The main controller MCU1 and the auxiliary controller MCU2 each have an inter-board communication module, and the two inter-board communication modules are integrated with a controller area network bus CAN and a serial peripheral interface SPI for realizing the communication connection between the main controller MCU1 and the auxiliary controller MCU2.

[0057] The two inter-board communication modules are also provided with PWM (Pulse Width Modulation), which is used for timing synchronization adjustment between the main controller MCU1 and the auxiliary controller MCU2.

[0058] Alternatively, if Figure 4 As shown, the main controller MCU1 and the auxiliary controller MCU2 each have a power supply unit Battery1 and Battery2, which are used to supply power to the respective controllers.

[0059] Alternatively, if Figure 4As shown, the main controller MCU1 and the auxiliary controller MCU2 each have an inverter bridge Invert Bridges1 and Invert Bridges2 for amplifying signals.

[0060] Alternatively, if Figure 4 As shown, the main controller MCU1 and the auxiliary controller MCU2 each have a position sensor MPS1 and MPS2 for reading the current mechanical position of the six-phase induction motor.

[0061] The control system of the six-phase road induction motor provided in the embodiment of the present invention has the same technical features as the control method of the six-phase road induction motor provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0062] An embodiment of the present invention further provides a six-phase road sensor motor, which includes the control system of the six-phase road sensor motor in any of the above embodiments.

[0063] The six-phase road sensing motor provided in the embodiment of the present invention includes the control system of the six-phase road sensing motor in the above embodiment. Therefore, the six-phase road sensing motor provided in the embodiment of the present invention also has the beneficial effects described in the above embodiment, which will not be repeated here.

[0064] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] Finally, it should be noted that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control method for a six-phase road induction motor, characterized in that: A control system applied to a six-phase road induction motor, the control system includes a main controller and an auxiliary controller, the main controller and the auxiliary controller each control a three-phase coil of the six-phase road induction motor, and the control method includes: The main controller enters the zero-position self-learning mode based on the received zero-position self-learning instruction, and determines whether the auxiliary controller needs to start zero-position self-learning based on the zero-position self-learning instruction; If the result of the judgment is that it is necessary, after the main controller completes the zero-position self-learning, the main controller self-learning result is stored for standby use, and the auxiliary controller is controlled to start the zero-position self-learning; If the judgment result is that it is not necessary, after the main controller completes the zero-position self-learning, the main controller self-learning result is directly stored for standby use.

2. The control method of the six-phase induction motor according to claim 1, characterized in that: The main controller controls the auxiliary controller to start zero-position self-learning, including: After completing the zero position self-learning, the main controller generates a main control self-learning completion flag; The main controller sends the zero position self-learning instruction and the main control self-learning completion flag to the auxiliary controller; The auxiliary controller enters the zero-position self-learning mode based on the received zero-position self-learning instruction and the main control self-learning completion flag.

3. The control method of the six-phase road induction motor according to claim 1, characterized in that: After the auxiliary controller starts zero-position self-learning, the control method further includes: After completing the zero-position self-learning, the auxiliary controller sends an auxiliary control self-learning completion flag to the main controller, and stores the auxiliary control self-learning result for standby use; The main controller determines whether the zero-position self-learning process of the six-phase induction motor is completed based on the generated main control self-learning completion flag and the received auxiliary control self-learning completion flag.

4. The control method of the six-phase road induction motor according to claim 3 is characterized in that: After the main controller determines that the zero-position self-learning of the six-phase induction motor is completed, the control method further includes: The control system of the six-phase induction motor is powered on; The main controller and the auxiliary controller each analyze the current mechanical position of the six-phase induction motor; The main controller and the auxiliary controller each read a target zero position value from a zero position self-learning result stored respectively; The main controller and the auxiliary controller respectively obtain the motor electrical angle value using their respective target zero position values ​​and current mechanical positions; The main controller and the auxiliary controller respectively control the operation of the six-phase induction motor by using their own motor electrical angle values.

5. The control method of the six-phase road induction motor according to claim 4, characterized in that: The main controller and the auxiliary controller respectively read the target zero position value in the zero position self-learning result stored respectively, including: The main controller and the auxiliary controller each read the zero position value stored respectively, and each determines whether the zero position value is valid; If valid, the zero position value is used as the target zero position value; If it is invalid, it is determined that the corresponding controller has not performed zero-position self-learning, and an alarm is prompted.

6. The control method of the six-phase induction motor according to claim 4, characterized in that: The main controller and the auxiliary controller obtain the motor electrical angle value by using their respective target zero position values ​​and current mechanical positions respectively, including: The main controller and the auxiliary controller respectively obtain the motor electrical angle value by subtracting the target zero position value from the product of the current mechanical position and the number of pole pairs of the six-phase induction motor.

7. The control method of the six-phase induction motor according to claim 4, characterized in that: The main controller and the auxiliary controller respectively use their own motor electrical angle values ​​to control the action of the six-phase induction motor, including: The main controller and the auxiliary controller respectively use their respective motor electrical angle values ​​to perform field oriented control operations, and the obtained operation results are modulated by space vector pulse width modulation to obtain the control signal of the six-phase induction motor; The main controller and the auxiliary controller use the obtained control signal to control the operation of the six-phase induction motor.

8. A control system for a six-phase road induction motor, characterized in that: The control system includes a main controller and an auxiliary controller; the main controller and the auxiliary controller each control a three-phase coil of a six-phase induction motor; The main controller includes a main control self-learning unit and a first storage unit, and the auxiliary controller includes an auxiliary control self-learning unit and a second storage unit; The main control self-learning unit enters the zero-position self-learning mode based on the received zero-position self-learning instruction, and judges whether the auxiliary controller needs to start zero-position self-learning based on the zero-position self-learning instruction; if the judgment result is necessary, after the main control self-learning unit completes the zero-position self-learning, the main control self-learning result is stored in the first storage unit for standby use, and the auxiliary control self-learning unit is controlled to start zero-position self-learning; if the judgment result is not necessary, after the main control self-learning unit completes the zero-position self-learning, the main control self-learning result is directly stored in the first storage unit for standby use; After the auxiliary control self-learning unit completes the zero-position self-learning, the auxiliary control self-learning result is stored in the second storage unit.

9. The control system of the six-phase road induction motor according to claim 8, characterized in that: The main controller and the auxiliary controller are connected to each other through a controller area network bus or a serial peripheral device interface.

10. A six-phase road induction motor, characterized in that: The six-phase road sensor motor comprises the control system of the six-phase road sensor motor according to any one of claims 8 to 9.

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