Dual three-phase motor control system based on single-path open-phase fault-tolerant control

Abstract

The invention relates to the technical field of motor control, in particular to a dual three-phase motor control system based on single-path open-phase fault-tolerant control, which mainly comprises a driving circuit module, and the driving circuit module is used for realizing a dual three-phase PMSM vector control module of a dual d-q model; when the dual three-phase permanent magnet driving motor lacks one phase, the motor is converted into an unbalanced five-phase motor, the winding of the motor is unbalanced, so that the zero-sequence voltage is not zero, the sampling value and the given value of the phase voltage in the controller are different, and the phase voltage in the controller is changed into the unbalanced five-phase motor. The control system provided by the invention is used for executing the control of the minimum stator copper loss, so that the phase of each phase of current is no longer consistent with that before phase loss, the control target of the minimum stator copper loss is realized, the motor can operate normally, the amplitude of each phase of current is no longer equal, and the motor performance is improved. And therefore, normal driving of the dual three-phase permanent magnet synchronous motor and fault-tolerant control functions during single-path phase loss can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a dual three-phase motor control system based on single-path phase loss fault-tolerant control. Background Art

[0002] At present, three-phase permanent magnet synchronous motors are difficult to control in the event of a phase loss due to their small number of phases, and have low fault tolerance. They have obvious disadvantages in some situations that are highly dependent on the stability of motor operation. Multi-phase motors have higher degrees of freedom than three-phase motors. When one or more phases of the winding fail, the system can adjust the motor operation strategy through the controller, thereby achieving non-stop fault-tolerant operation of the motor, which is beneficial to improving the reliability of the motor operation.

[0003] The dual three-phase permanent magnet synchronous motor is a multi-phase motor with relatively mature production technology. Its six-phase winding can effectively improve the fault tolerance of the motor. However, the current motor controller system cannot achieve phase loss control of the dual three-phase permanent magnet synchronous motor without stopping the motor. Summary of the invention

[0004] The object of the present invention is to provide a dual three-phase motor control system based on single-circuit phase loss fault-tolerant control to solve the above-mentioned problems in the prior art.

[0005] The embodiments of the present invention are implemented by the following technical solutions:

[0006] The present invention provides a dual three-phase motor control system based on single-circuit phase-loss fault-tolerant control, comprising:

[0007] A driving circuit module, wherein the driving circuit module is used to implement a dual three-phase PMSM vector control module of a dual dq model;

[0008] A current sampling circuit module, wherein the current sampling circuit module is used to collect six-phase currents of the motor;

[0009] A power supply module, which is used for power conversion and voltage regulation and is connected to the driving circuit module;

[0010] A processing module is connected to the drive circuit module, the main power circuit module, the current sampling circuit module and the power supply module, and is used to perform minimum stator copper loss control after phase loss.

[0011] Preferably, the driving circuit module includes a driving processor, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first capacitor, a first rectifier diode, a first voltage regulator diode, and a second voltage regulator diode;

[0012] Five pins of the driving processor are respectively connected to the first resistor, the second resistor, the third resistor, the fourth resistor and the first rectifier diode, and one pin is connected to the first capacitor, the first voltage regulator diode and the second voltage regulator diode;

[0013] The other ends of the first resistor and the second resistor are connected to the processing module respectively, the other end of the first capacitor is connected to the first rectifier diode, the other end of the third resistor is connected to the first voltage regulator diode, the other end of the fourth resistor is connected to the second voltage regulator diode, and the second voltage regulator diode is connected to the fifth resistor.

[0014] Preferably, the current sampling circuit module includes three current sampling units and a follower;

[0015] The current sampling unit includes a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor, an eleventh resistor, a twelfth resistor and a first amplifier, the sixth resistor is connected to the seventh resistor, the seventh resistor is connected to the tenth resistor and an inverting input terminal of the first amplifier, the eighth resistor is connected to the ninth resistor, the ninth resistor is connected to the eleventh resistor and a non-inverting input terminal of the first amplifier, and the output terminal of the first amplifier is connected to the twelfth resistor.

[0016] Preferably, the follower includes a second amplifier, a thirteenth resistor, a fourteenth resistor and a second capacitor, the thirteenth resistor and the fourteenth resistor are connected to the in-phase input terminal of the second amplifier, and the second capacitor is connected to the inverting input terminal of the second amplifier.

[0017] Preferably, the power module includes a first power module, a second power module and a third power module, the first power module includes a first power processor, a connector, a second rectifier diode, a third rectifier diode, a third capacitor, a fourth capacitor, a fifth capacitor, a sixth capacitor, a first inductor, a fifteenth resistor, and a sixteenth resistor;

[0018] One of the pins of the first power processor is connected to the second rectifier diode and the third capacitor, two of the pins are connected to the other end of the third capacitor, one of the pins is connected to the fourth capacitor, the fifteenth resistor and the sixteenth resistor, and one of the pins is connected to the third rectifier diode and the first inductor;

[0019] The fourth capacitor is connected to the thirteenth resistor, the first inductor is connected to the fifth capacitor and the sixth capacitor, and the fifth capacitor is connected to the sixth capacitor.

[0020] Preferably, the second power supply module includes a second power supply processor, a fourth rectifier diode, a second inductor, a seventh capacitor and an eighth capacitor;

[0021] One of the pins of the second power processor is connected to the fourth rectifier diode, and one of the pins is connected to the second inductor, the seventh capacitor and the eighth capacitor;

[0022] The other end of the second inductor is connected to the fourth rectifier diode, and the seventh capacitor is connected to the eighth capacitor.

[0023] Preferably, the third power supply module includes a third power supply processor, a ninth capacitor and a tenth capacitor, the output end of the third power supply processor is connected to the ninth capacitor and the tenth capacitor, and the ninth capacitor is connected to the tenth capacitor.

[0024] Preferably, the processing module includes a main processor, a seventeenth resistor, an eighteenth resistor, a nineteenth resistor, a twentieth resistor, an eleventh capacitor, a twelfth capacitor and a thirteenth capacitor, four pins of the main processor are respectively connected to the seventeenth resistor, the eighteenth resistor, the twentieth resistor, the twelfth capacitor and the thirteenth capacitor, and one of the pins is connected to the nineteenth resistor and the eleventh capacitor.

[0025] Preferably, the dual three-phase PMSM vector control module of the dual dq model includes a speed regulation loop, four current regulation loops, an error signal module, a PWM module and a six-phase inverter, the speed regulation loop is connected to the speed regulation loop, two current regulation loops are connected to the error signal module, the other two current regulation loops and the error signal module are connected to the PWM module, the PWM module is connected to the six-phase inverter, and the six-phase inverter is used to be connected to the conversion module and the motor.

[0026] Preferably, the stator copper loss minimum control after phase loss includes:

[0027] Determine whether the current motor is missing a phase. If so, adjust the current using the stator copper loss minimum control algorithm.

[0028] The stator copper loss minimum control algorithm includes:

[0029] p L =f(ω,i dt ,T e )

[0030] In the formula, p L is the stator copper loss, ω is the speed, i dt is the stator shaft current, T e is the torque.

[0031] The technical solution of the embodiment of the present invention has at least the following advantages and beneficial effects:

[0032] The present invention mainly includes a drive circuit module, which is used to realize a dual three-phase PMSM vector control module of a dual dq model; a current sampling circuit module, a power supply module and a processing module. When a dual three-phase permanent magnet drive motor lacks one phase, the motor is converted into an unbalanced five-phase motor. Due to the unbalanced winding of the motor, the zero-sequence voltage is not zero, and a difference will appear between the sampling value and the given value of the phase voltage in the controller. The control system provided by the present invention is used to perform control to minimize stator copper loss, so that the phase of each phase current is no longer consistent with that before the phase is lost, thereby achieving the control goal of minimizing stator copper loss, enabling the motor to operate normally, and the amplitude of each phase current is no longer equal, thereby realizing the normal drive of the dual three-phase permanent magnet synchronous motor and the fault-tolerant control function when a single circuit is lost. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 A driving circuit module of the present invention;

[0035] Figure 2 The current sampling unit of the present invention;

[0036] Figure 3 A follower of the present invention;

[0037] Figure 4 The first power module of the present invention;

[0038] Figure 5 The second power module of the present invention;

[0039] Figure 6 The third power module of the present invention;

[0040] Figure 7 is a processing module of the present invention;

[0041] Figure 8 It is a dual three-phase PMSM vector control module of the present invention.

[0042] Icon: R3-first resistor, R6-second resistor, R3-third resistor, R9-fourth resistor, R12-fifth resistor, R24-sixth resistor, R23-seventh resistor, R29-eighth resistor, R28-ninth resistor, R19-tenth resistor, R33-eleventh resistor, R27-twelfth resistor, R22-thirteenth resistor, R30-fourteenth resistor, R69-fifteenth resistor, R70-sixteenth resistor, R14-seventeenth resistor, R15-eighteenth resistor, R17-nineteenth resistor, R5-twentieth resistor, C1-first capacitor, C11-second capacitor, C 29-third capacitor, C28-fourth capacitor, C30-fifth capacitor, C31-sixth capacitor, C40-seventh capacitor, C39-eighth capacitor, C43-ninth capacitor, C44-tenth capacitor, C5-eleventh capacitor, C13-twelfth capacitor, C14-thirteenth capacitor, D1-first rectifier diode, D7-second rectifier diode, D8-third rectifier diode, D10-fourth rectifier diode, Q1-first voltage regulator diode, Q3-second voltage regulator diode, B-first amplifier, A-second amplifier, P5-connector, L1-first inductor, L2-second inductor. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0044] The division of modules in this application is a logical division. There may be other division methods when implemented in actual applications. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed.

[0045] The modules or submodules described independently may be physically separated or not: they may be implemented by software or hardware, and some modules or submodules may be implemented by software, and the processor may call the software to implement the functions of these modules or submodules, and other modules or submodules may be implemented by hardware, such as by hardware circuits. In addition, some or all of the modules may be selected according to actual needs to achieve the purpose of the present application.

[0046] Please refer to Figure 1-Figure 4 The present invention provides a dual three-phase motor control system based on single-phase missing fault-tolerant control, comprising:

[0047] A drive circuit module, the drive circuit module is used to implement a dual three-phase PMSM vector control module of a dual dq model; a current sampling circuit module, the current sampling circuit module is used to collect six-phase currents of the motor; a power supply module, the power supply module is used for power conversion and voltage regulation, and is connected to the drive circuit module; a processing module, the processing module is connected to the drive circuit module, the main power circuit module, the current sampling circuit module and the power supply module, and is used to perform minimum stator copper loss control after phase loss.

[0048] In an exemplary embodiment of the present invention, the driving circuit module includes a driving processor, a first resistor R3, a second resistor R6, a third resistor R3, a fourth resistor R9, a fifth resistor R12, a first capacitor C1, a first rectifier diode D1, a first voltage regulator diode Q1, and a second voltage regulator diode Q3;

[0049] Five pins of the driving processor are respectively connected to the first resistor R3, the second resistor R6, the third resistor R3, the fourth resistor R9 and the first rectifier diode D1, and one pin is connected to the first capacitor C1, the first zener diode Q1 and the second zener diode Q3;

[0050] The other ends of the first resistor R3 and the second resistor R6 are connected to the processing module respectively, the other end of the first capacitor C1 is connected to the first rectifier diode D1, the other end of the third resistor R3 is connected to the first voltage regulator diode Q1, the other end of the fourth resistor R9 is connected to the second voltage regulator diode Q3, and the second voltage regulator diode Q3 is connected to the fifth resistor R12.

[0051] In this embodiment, the driving processor adopts the IR2101S half-bridge driver chip, with a VOFFET voltage of 600V, an IO input and output current of 130mA / 270mA, an output voltage of 10-20V, and a delay time of 50ns. At the same time, the upper bridge arm drive adopts a bootstrap circuit design with a bootstrap capacitor of 10uF. The processor includes VCC, HIN, LIN, CCM, VB, HO, VS and LO pins.

[0052] Among them, the VCC pin is connected to a 15V voltage, the HIN and LIN pins are connected to the first resistor R3 and the second resistor R6 respectively, the CCM pin is grounded, the VB pin is connected to the first rectifier diode D1, the HO and LO pins are connected to the third resistor R3 and the fourth resistor R9 respectively, and the VS pin is connected to the first capacitor C1, the first Zener diode Q1 and the second Zener diode Q3.

[0053] Secondly, since the controller drives a dual three-phase permanent magnet motor, the drive circuit module in this solution has twice as many drive bridge arms as the traditional three-phase circuit.

[0054] In an exemplary embodiment of the present invention, the current sampling circuit module includes three current sampling units and a follower;

[0055] The current sampling unit includes a sixth resistor R24, a seventh resistor R23, an eighth resistor R29, a ninth resistor R28, a tenth resistor R19, an eleventh resistor R33, a twelfth resistor R27 and a first amplifier B, the sixth resistor R24 ​​is connected to the seventh resistor R23, the seventh resistor R23 is connected to the tenth resistor R19 and the inverting input terminal of the first amplifier B, the eighth resistor R29 is connected to the ninth resistor R28, the ninth resistor R28 is connected to the eleventh resistor R33 and the non-inverting input terminal of the first amplifier B, and the output terminal of the first amplifier B is connected to the twelfth resistor R27.

[0056] Specifically, the follower includes a second amplifier A, a thirteenth resistor R22, a fourteenth resistor R30 and a second capacitor C11, the thirteenth resistor R22 and the fourteenth resistor R30 are connected to the in-phase input terminal of the second amplifier A, and the second capacitor C11 is connected to the inverting input terminal of the second amplifier A.

[0057] In this embodiment, the current sampling unit in this scheme is carried out through the sampling resistor of each lower bridge arm, and a differential amplifier circuit composed of LM324 is used with an amplification factor of 5 to collect the six-phase current of the motor. At the same time, a follower is designed to provide a 1.65V bias voltage for current sampling, and three current sampling units collect the three phases UVW respectively.

[0058] In an exemplary embodiment of the present invention, the power module includes a first power module, a second power module and a third power module, wherein the first power module includes a first power processor, a connector P5, a second rectifier diode D7, a third rectifier diode D8, a third capacitor C29, a fourth capacitor C28, a fifth capacitor C30, a sixth capacitor C31, a first inductor L1, a fifteenth resistor R69, and a sixteenth resistor R70;

[0059] One of the pins of the first power processor is connected to the second rectifier diode D7 and the third capacitor C29, two of the pins are connected to the other end of the third capacitor C29, one of the pins is connected to the fourth capacitor C28, the fifteenth resistor R69 and the sixteenth resistor R70, and one of the pins is connected to the third rectifier diode D8 and the first inductor L1;

[0060] The fourth capacitor C28 is connected to the thirteenth resistor R22 , the first inductor L1 is connected to the fifth capacitor C30 and the sixth capacitor C31 , and the fifth capacitor C30 is connected to the sixth capacitor C31 .

[0061] Among them, the first power processor is built with LM2596-ADJ, which converts the 24V DC bus voltage into 15V. It has the characteristics of high efficiency and low heat generation. The 15V voltage mainly provides driving voltage for the driving circuit.

[0062] The first power processor includes VIN, ON / OFF, GND, FB, and OUT pins, wherein the VIN pin is connected to the second rectifier diode D7 and the third capacitor C29, the ON / OFF pin and the GND pin are connected to the other end of the third capacitor C29, the FB pin is connected to the fourth capacitor C28, the thirteenth resistor R22, and the fourteenth resistor R30, and the OUT pin is connected to the third rectifier diode D8 and the first inductor L1.

[0063] In an exemplary embodiment of the present invention, the second power supply module includes a second power supply processor, a fourth rectifier diode D10, a second inductor L2, a seventh capacitor C40 and an eighth capacitor C39;

[0064] One of the pins of the second power processor is connected to the fourth rectifier diode D10, and one of the pins is connected to the second inductor L2, the seventh capacitor C40 and the eighth capacitor C39;

[0065] The other end of the second inductor L2 is connected to the fourth rectifier diode D10, and the seventh capacitor C40 is connected to the eighth capacitor C39.

[0066] Among them, the second power processor is built with LM2596-5.0, which converts 15V into 5V control voltage, and also includes VIN, ON / OFF, GND, FB, and OUT pins. Among them, the VIN pin is connected to the 15V voltage, the ON / OFF pin and the GND pin are grounded, the FB pin is connected to the second inductor L2, the seventh capacitor C40 and the eighth capacitor C39, and the OUT pin is connected to the fourth rectifier diode D10.

[0067] In an exemplary embodiment of the present invention, the third power supply module includes a third power supply processor, a ninth capacitor C43 and a tenth capacitor C44, the output end of the third power supply processor is connected to the ninth capacitor C43 and the tenth capacitor C44, and the ninth capacitor C43 is connected to the tenth capacitor C44.

[0068] In this embodiment, the third power supply module is constructed using AMS1115-3.3, which converts 5V into 3.3V to power the main processor, including IN, OUT and GND pins, wherein the IN pin is connected to the 5V voltage, the GND pin is connected to the ninth capacitor C43 and the tenth capacitor C44, and the other ends of the ninth capacitor C43 and the tenth capacitor C44 are connected to the GND pin and grounded.

[0069] In an exemplary embodiment of the present invention, the processing module includes a main processor, a seventeenth resistor R14, an eighteenth resistor R15, a nineteenth resistor R17, a twentieth resistor R5, an eleventh capacitor C5, a twelfth capacitor C13 and a thirteenth capacitor C14, four pins of the main processor are respectively connected to the seventeenth resistor R14, the eighteenth resistor R15, the twentieth resistor R5, the twelfth capacitor C13 and the thirteenth capacitor C14, and one pin is connected to the nineteenth resistor R17R17 and the eleventh capacitor C5.

[0070] In this embodiment, the main processor adopts STM32F103RBT6 single-chip microcomputer, uses TQFP64 package, has 20KSRAM, 128K FLASH, two 16-bit basic timers, 4 16-bit general timers, 2 16-bit advanced timers, 2 DMA controllers, 2 SPIs, 2 IICs, three serial ports, 2 12-bit ADCs, and 51 general IO interfaces.

[0071] In an exemplary embodiment of the present invention, the dual three-phase PMSM vector control module of the dual dq model includes a speed regulation loop, four current regulation loops, an error signal module e jθ , PWM module and six-phase inverter, the speed regulation loop is connected to the speed regulation loop, wherein the two current regulation loops are connected to the error signal module e jθ The other two current regulation loops and the error signal module are connected to the PWM module, the PWM module is connected to the six-phase inverter, and the six-phase inverter is used to be connected to the conversion module T and the motor.

[0072] The speed regulation loop includes the first PI controller PI s , the speed regulation loop includes a second PI controller PI d 、The third PI controller PI q 、The fourth PI controller PI z1 and the fifth PI controller PI z2

[0073] Among them, the second PI controller PI d and the third PI controller PI q The speed regulation loop is connected to the error signal module, and the fourth PI controller PIz1 and the fifth PI controller PI z2 The speed regulation loop is connected to the six-phase inverter, and the error signal module e jθ Used to represent the difference between the target value (set value) and the actual output, the transformation module T is used to perform coordinate transformation. Specifically, the most common process is the transformation from the three-phase stationary coordinate system (ABC coordinate system) to the two-phase rotating coordinate system (DQ coordinate system) or from the DQ coordinate system back to the ABC coordinate system.

[0074] This control method is completely equivalent to the control of two three-phase PMSMs. Both systems use the control strategy of id=0, which can ensure that the two sets of windings of the dual three-phase permanent magnet synchronous motors can maintain the optimal current control method.

[0075] Preferably, the stator copper loss minimum control after phase loss includes:

[0076] Determine whether the current motor is missing a phase. If so, adjust the current using the stator copper loss minimum control algorithm.

[0077] The stator copper loss minimum control algorithm includes:

[0078] p L =f(ω,i dt ,T e )

[0079] In the formula, p L is the stator copper loss, ω is the speed, i dt is the stator shaft current, T e is the torque.

[0080] The losses that can be suppressed by the control algorithm are only related to the motor speed, torque, and stator shaft current. Since the speed and torque are determined by the load, the essence of various loss suppression algorithms is to adjust the stator shaft current or flux linkage to achieve the loss suppression effect while meeting the load requirements.

[0081] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A dual three-phase motor control system based on single-phase missing fault-tolerant control, characterized in that: include: A driving circuit module, wherein the driving circuit module is used to implement a dual three-phase PMSM vector control module of a dual dq model; A current sampling circuit module, wherein the current sampling circuit module is used to collect six-phase currents of the motor; A power supply module, which is used for power conversion and voltage regulation and is connected to the driving circuit module; A processing module is connected to the drive circuit module, the main power circuit module, the current sampling circuit module and the power supply module, and is used to perform minimum stator copper loss control after phase loss.

2. A dual three-phase motor control system based on single-phase missing fault-tolerant control according to claim 1, characterized in that: The driving circuit module includes a driving processor, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first capacitor, a first rectifier diode, a first voltage regulator diode, and a second voltage regulator diode; Five pins of the driving processor are respectively connected to the first resistor, the second resistor, the third resistor, the fourth resistor and the first rectifier diode, and one pin is connected to the first capacitor, the first voltage regulator diode and the second voltage regulator diode; The other ends of the first resistor and the second resistor are connected to the processing module respectively, the other end of the first capacitor is connected to the first rectifier diode, the other end of the third resistor is connected to the first voltage regulator diode, the other end of the fourth resistor is connected to the second voltage regulator diode, and the second voltage regulator diode is connected to the fifth resistor.

3. A dual three-phase motor control system based on single-phase missing fault-tolerant control according to claim 2, characterized in that: The current sampling circuit module includes three current sampling units and a follower; The current sampling unit includes a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor, an eleventh resistor, a twelfth resistor and a first amplifier, the sixth resistor is connected to the seventh resistor, the seventh resistor is connected to the tenth resistor and an inverting input terminal of the first amplifier, the eighth resistor is connected to the ninth resistor, the ninth resistor is connected to the eleventh resistor and a non-inverting input terminal of the first amplifier, and the output terminal of the first amplifier is connected to the twelfth resistor.

4. A dual three-phase motor control system based on single-phase missing fault-tolerant control according to claim 3, characterized in that: The follower includes a second amplifier, a thirteenth resistor, a fourteenth resistor and a second capacitor, the thirteenth resistor and the fourteenth resistor are connected to the non-inverting input terminal of the second amplifier, and the second capacitor is connected to the inverting input terminal of the second amplifier.

5. A dual three-phase motor control system based on single-phase missing fault-tolerant control according to claim 3, characterized in that: The power module includes a first power module, a second power module and a third power module, wherein the first power module includes a first power processor, a connector, a second rectifier diode, a third rectifier diode, a third capacitor, a fourth capacitor, a fifth capacitor, a sixth capacitor, a first inductor, a fifteenth resistor and a sixteenth resistor; One of the pins of the first power processor is connected to the second rectifier diode and the third capacitor, two of the pins are connected to the other end of the third capacitor, one of the pins is connected to the fourth capacitor, the fifteenth resistor and the sixteenth resistor, and one of the pins is connected to the third rectifier diode and the first inductor; The fourth capacitor is connected to the thirteenth resistor, the first inductor is connected to the fifth capacitor and the sixth capacitor, and the fifth capacitor is connected to the sixth capacitor.

6. A dual three-phase motor control system based on single-phase missing fault-tolerant control according to claim 5, characterized in that: The second power supply module includes a second power supply processor, a fourth rectifier diode, a second inductor, a seventh capacitor and an eighth capacitor; One of the pins of the second power processor is connected to the fourth rectifier diode, and one of the pins is connected to the second inductor, the seventh capacitor and the eighth capacitor; The other end of the second inductor is connected to the fourth rectifier diode, and the seventh capacitor is connected to the eighth capacitor.

7. A dual three-phase motor control system based on single-phase missing fault-tolerant control according to claim 6, characterized in that: The third power supply module includes a third power supply processor, a ninth capacitor and a tenth capacitor. The output end of the third power supply processor is connected to the ninth capacitor and the tenth capacitor, and the ninth capacitor is connected to the tenth capacitor.

8. A dual three-phase motor control system based on single-phase missing fault-tolerant control according to claim 6, characterized in that: The processing module includes a main processor, a seventeenth resistor, an eighteenth resistor, a nineteenth resistor, a twentieth resistor, an eleventh capacitor, a twelfth capacitor and a thirteenth capacitor, four pins of the main processor are respectively connected to the seventeenth resistor, the eighteenth resistor, the twentieth resistor, the twelfth capacitor and the thirteenth capacitor, and one pin is connected to the nineteenth resistor and the eleventh capacitor.

9. A dual three-phase motor control system based on single-phase missing fault-tolerant control according to claim 6, characterized in that: The dual three-phase PMSM vector control module of the dual dq model includes a speed regulation loop, four current regulation loops, an error signal module, a PWM module and a six-phase inverter, wherein the speed regulation loop is connected to the speed regulation loop, wherein two current regulation loops are connected to the error signal module, and the other two current regulation loops and the error signal module are connected to the PWM module, the PWM module is connected to the six-phase inverter, and the six-phase inverter is used to be connected to the conversion module and the motor.

10. A dual three-phase motor control system based on single-phase missing fault-tolerant control according to claim 6, characterized in that: The stator copper loss minimum control after phase loss includes: Determine whether the current motor is missing a phase. If so, obtain the current motor basic data and adjust the current using the stator copper loss minimum control algorithm. The stator copper loss minimum control algorithm includes: p L =f(ω,i dt ,T e ) In the formula, p L is the stator copper loss, ω is the speed, i dt is the stator shaft current, T e is the torque.

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