Redundant drive method of engine servo control unit

Abstract

The invention discloses a redundant drive method for an engine servo control unit. The redundant drive method comprises the following steps that phase current is collected; carrying out position loop PID closed-loop calculation; pID closed-loop calculation of a rotating speed loop is carried out; performing coordinate transformation according to the on-duty driving phase current and the motor rotary transformation angle; performing current loop PID closed-loop calculation; an integral accumulation item in an on-duty driving current loop PID output result is adopted to update an integral accumulation item corresponding to non-on-duty driving; and obtaining an on-duty driving PWM control signal according to the on-duty driving current loop PID output result and the motor rotation transformation angle. According to the method, the integral accumulation item corresponding to non-on-duty driving is updated by adopting the integral accumulation item in the PID output result of the on-duty driving current loop, so that the integral accumulation item can be stably connected and transited during driving switching, the driving control stability is improved, and the reliability of engine thrust and mixing ratio adjustment is improved.

Description

Technical Field

[0001] The present application relates to the technical field of engine thrust and mixture ratio regulation and control, and in particular to a redundant driving method for an engine servo control unit. Background Art

[0002] The dual redundant servo control unit is used to realize engine thrust and mixture ratio adjustment, receive and identify control instructions, collect sensor signals, and complete the angle closed-loop control of the regulator servo unit and the throttle valve servo unit. It plays an important role in the liquid rocket engine system. When the dual redundant servo control unit switches the drive, the measured speed of the servo motor will overshoot by 300 to 500 rpm based on the speed setting value, which may trigger the motor overspeed protection strategy, PWM output stops, drive circuit enable is prohibited, brake is engaged, and the motor switch is turned off; then the motor inertial deceleration under the action of the brake, that is, the unit decelerates freely and is no longer controlled by the servo control unit, resulting in the unit angle not being adjusted to the required working condition of the engine, thus affecting the success or failure of the engine test. Therefore, it is necessary to study the drive redundancy method of the engine servo control unit.

[0003] In the prior art, Chinese patent CN115680939A discloses a servo unit disturbance-free redundant control system, including a control circuit CPUA, a control circuit CPUB, a machine cutting arbitration circuit, an output enable circuit A and an output enable circuit B; the control circuit CPUA and the control circuit CPUB output the unit control signal to the output enable circuit A and the output enable circuit B respectively according to the working condition of the unit; the machine cutting arbitration circuit determines which control signal is on duty according to the self-test signal of the control circuit CPUA and the control circuit CPUB, and outputs the judgment result to the output enable circuit A or the output enable circuit B; the output enable circuit A or the output enable circuit B enables the drive unit to work.

[0004] However, the above-mentioned prior art does not take into account the overshoot of the servo motor speed at the moment of drive switching, and the drive control stability is poor, and the reliability of engine thrust and mixture ratio adjustment is poor. Summary of the invention

[0005] The present application provides a redundant driving method for an engine servo control unit, which is used to solve the problem that the prior art does not take into account the overshoot of the servo motor speed at the moment of drive switching, the drive control stability is poor, and the reliability of engine thrust and mixture ratio adjustment is poor.

[0006] In one aspect, the present application provides a redundant driving method for an engine servo control unit, comprising the following steps:

[0007] The first drive phase current and the second drive phase current of the dual redundant servo control unit are collected.

[0008] The unit angle setting value and the unit angle feedback value are obtained, and a position loop PID closed-loop calculation is performed according to the unit angle setting value and the unit angle feedback value to obtain a set speed.

[0009] The feedback speed is obtained, and a speed loop PID closed-loop calculation is performed according to the set speed and the feedback speed to obtain a set current.

[0010] Get the motor resolver electrical angle.

[0011] The on-duty drive is judged, and coordinate transformation is performed according to the on-duty drive phase current and the motor resolver electrical angle to obtain the on-duty drive feedback current.

[0012] A current loop PID closed-loop calculation is performed according to the set current and the on-duty drive feedback current to obtain an on-duty drive current loop PID output result.

[0013] The integral accumulation item in the on-duty drive current loop PID output result is used to update the integral accumulation item corresponding to the off-duty drive.

[0014] Coordinate transformation and modulation are performed according to the on-duty drive current loop PID output result and the motor rotary transformer electrical angle to obtain the on-duty drive PWM control signal.

[0015] The dual redundant servo control unit is driven according to the on-duty driving PWM control signal.

[0016] In a possible implementation, the obtaining of the unit angle setting value and the unit angle feedback value includes:

[0017] An angle adjustment instruction is obtained, and the angle setting value of the unit is updated according to the angle adjustment instruction.

[0018] The current code value of the unit resolver is read, and the current code value of the unit resolver is converted into an angle value as the unit angle feedback value.

[0019] In a possible implementation manner, obtaining the feedback rotation speed includes:

[0020] The current code value of the motor resolver is read, and the current code value of the motor resolver is converted into a rotation speed value as the feedback rotation speed.

[0021] In a possible implementation, obtaining the motor resolver electrical angle includes:

[0022] The mechanical angle of the motor resolver is read, and the mechanical angle of the motor resolver is converted into an electrical angle as the electrical angle of the motor resolver.

[0023] In a possible implementation, if the on-duty drive is the first drive, the first drive phase current is used as the on-duty drive phase current.

[0024] If the on-duty drive is the second drive, the second drive phase current is used as the on-duty drive phase current.

[0025] In a possible implementation, performing coordinate transformation according to the on-duty drive phase current and the motor resolver electrical angle to obtain the on-duty drive feedback current includes:

[0026] Clark coordinate transformation and Park coordinate transformation are performed according to the on-duty driving phase current and the motor rotary electric angle to obtain a two-phase rotating current as the on-duty driving feedback current.

[0027] The on-duty driving feedback current includes: on-duty driving Q-axis feedback current and on-duty driving D-axis feedback current.

[0028] In a possible implementation, performing current loop PID closed-loop calculation according to the set current and the on-duty drive feedback current to obtain the on-duty drive current loop PID output result includes:

[0029] The current loop Q-axis PID closed-loop calculation is performed according to the set current and the on-duty driving Q-axis feedback current to obtain the on-duty driving current loop Q-axis PID output result.

[0030] The current loop D-axis PID closed-loop calculation is performed according to the set current and the on-duty driving D-axis feedback current to obtain the on-duty driving current loop D-axis PID output result.

[0031] In a possible implementation, the step of using the integral accumulation item in the on-duty drive current loop PID output result to update the integral accumulation item corresponding to the off-duty drive includes:

[0032] The Q-axis PID integral accumulation item in the Q-axis PID output result of the on-duty drive current loop is used to update the Q-axis PID integral accumulation item corresponding to the off-duty drive.

[0033] The D-axis PID integral accumulation item in the D-axis PID output result of the on-duty drive current loop is used to update the D-axis PID integral accumulation item corresponding to the off-duty drive.

[0034] In a possible implementation, the coordinate transformation and modulation are performed according to the on-duty drive current loop PID output result and the motor resolver electrical angle to obtain the on-duty drive PWM control signal, including:

[0035] According to the Q-axis PID output result of the on-duty drive current loop, the D-axis PID output result of the on-duty drive current loop and the motor rotary electric angle, Park inverse coordinate transformation and space vector pulse width modulation are performed to obtain the on-duty drive PWM control signal.

[0036] The redundant driving method of an engine servo control unit in the present application has the following advantages:

[0037] By using the integral accumulation item in the PID output result of the on-duty drive current loop to update the integral accumulation item corresponding to the off-duty drive, the integral accumulation item can stably connect and transition when the drive is switched, thereby improving the drive control stability and the reliability of the engine thrust and mixture ratio adjustment.

[0038] The proposed method reads the motor resolver mechanical angle, converts the motor resolver mechanical angle into an electrical angle, and uses the motor resolver electrical angle as the motor resolver electrical angle, and then performs coordinate transformation in a rotating coordinate system, thereby improving precise torque and speed control.

[0039] The proposed Clark coordinate transformation and Park coordinate transformation are performed according to the on-duty drive phase current and the motor resolver electrical angle to obtain the two-phase rotating current as the on-duty drive feedback current, which is convenient for current loop PID closed-loop calculation in the rotating coordinate system.

[0040] The proposed method performs Park inverse coordinate transformation and space vector pulse width modulation according to the Q-axis PID output result of the on-duty drive current loop, the D-axis PID output result of the on-duty drive current loop and the motor resolver electrical angle to obtain the on-duty drive PWM control signal, thereby realizing precise control of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 A schematic flow chart of a redundant driving method for an engine servo control unit provided in an embodiment of the present application;

[0043] Figure 2 The speed curve of the prior art during drive switching provided in the embodiment of the present application;

[0044] Figure 3 A speed curve when driving and switching using the method of the present application provided in an embodiment of the present application;

[0045] Figure 4The embodiment of the present application provides a position curve when the method of the present application is used for drive switching. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] like Figure 1 As shown, an embodiment of the present application provides a redundant driving method for an engine servo control unit, comprising the following steps:

[0048] S110, collecting a first drive phase current and a second drive phase current of a dual redundant servo control unit.

[0049] S120, obtaining a unit angle setting value and a unit angle feedback value, performing a position loop PID closed-loop calculation according to the unit angle setting value and the unit angle feedback value, and obtaining a set speed.

[0050] S130, obtaining a feedback speed, performing a speed loop PID closed-loop calculation according to the set speed and the feedback speed, and obtaining a set current.

[0051] S140, obtaining the motor resolver electrical angle.

[0052] S150, determining the on-duty drive, performing coordinate transformation according to the on-duty drive phase current and the motor resolver electrical angle, and obtaining the on-duty drive feedback current.

[0053] S160, performing current loop PID closed-loop calculation according to the set current and the on-duty drive feedback current to obtain an on-duty drive current loop PID output result.

[0054] S170, using the integral accumulation item in the on-duty drive current loop PID output result to update the integral accumulation item corresponding to the off-duty drive.

[0055] S180, performing coordinate transformation and modulation according to the on-duty drive current loop PID output result and the motor resolver electrical angle to obtain the on-duty drive PWM control signal.

[0056] S190, driving the dual redundant servo control unit according to the on-duty driving PWM control signal.

[0057] Specifically, in this embodiment, the first driver of the dual redundant servo control unit is assumed to be driver A, and the second driver is driver B. In S110, the system is first powered on, the dual redundant servo control unit completes hardware resource initialization, and an analog-to-digital converter (ADC) collects the A drive phase current and the B drive phase current.

[0058] Exemplarily, in S120, obtaining the unit angle setting value and the unit angle feedback value includes:

[0059] An angle adjustment instruction is obtained, and the angle setting value of the unit is updated according to the angle adjustment instruction.

[0060] The current code value of the unit resolver is read, and the current code value of the unit resolver is converted into an angle value as the unit angle feedback value.

[0061] Specifically, in this embodiment, the dual redundant servo control unit obtains the angle adjustment instruction, performs instruction parsing and updates the unit angle setting value SV_Pos; reads the current code value of the unit resolver, and converts the current code value of the unit resolver into an angle value according to the unit resolver resolution as the unit angle feedback value PV_Pos; performs position loop PID closed-loop calculation according to the unit angle setting value SV_Pos and the unit angle feedback value PV_Pos, and uses the position loop PID output result as the set speed SV_Spd.

[0062] Exemplarily, in S130, obtaining the feedback speed includes:

[0063] The current code value of the motor resolver is read, and the current code value of the motor resolver is converted into a rotation speed value as the feedback rotation speed.

[0064] Specifically, in this embodiment, the current code value of the motor resolver is read, and the current code value of the motor resolver is converted into a speed value according to the motor resolver resolution as the feedback speed PV_Spd; the speed loop PID closed-loop calculation is performed according to the set speed SV_Spd and the feedback speed PV_Spd to obtain the set current SV_Cur.

[0065] Exemplarily, in S140, obtaining the motor resolver electrical angle includes:

[0066] The mechanical angle of the motor resolver is read, and the mechanical angle of the motor resolver is converted into an electrical angle as the electrical angle of the motor resolver.

[0067] Specifically, in this embodiment, the motor resolver mechanical angle is read, and the motor resolver mechanical angle is converted into an electrical angle as the motor resolver electrical angle Ang.

[0068] Exemplarily, if the on-duty drive is the first drive, the first drive phase current is used as the on-duty drive phase current.

[0069] If the on-duty drive is the second drive, the second drive phase current is used as the on-duty drive phase current.

[0070] Specifically, in this embodiment, if the on-duty drive is A drive, the A drive phase current is used as the on-duty drive phase current; if the on-duty drive is B drive, the B drive phase current is used as the on-duty drive phase current.

[0071] Exemplarily, in S150, performing coordinate transformation according to the on-duty drive phase current and the motor resolver electrical angle to obtain the on-duty drive feedback current includes:

[0072] Clark coordinate transformation and Park coordinate transformation are performed according to the on-duty driving phase current and the motor rotary electric angle to obtain a two-phase rotating current as the on-duty driving feedback current.

[0073] The on-duty driving feedback current includes: on-duty driving Q-axis feedback current and on-duty driving D-axis feedback current.

[0074] Specifically, in this embodiment, if the on-duty drive is A drive, Clark coordinate transformation and Park coordinate transformation are performed according to the A drive phase current and the motor rotational electrical angle Ang, wherein the Clark coordinate transformation is used to transform the three-phase current into a two-phase orthogonal current, and the Park coordinate transformation is used to transform the two-phase orthogonal current into a two-phase rotating current as the A drive feedback current, including the A drive Q-axis feedback current PV_CurAq and the A drive D-axis feedback current PV_CurAd.

[0075] If the drive on duty is B drive, Clark coordinate transformation and Park coordinate transformation are performed according to the B drive phase current and the motor rotational electrical angle Ang, where Clark coordinate transformation is used to transform the three-phase current into a two-phase orthogonal current, and Park coordinate transformation is used to transform the two-phase orthogonal current into a two-phase rotating current as the B drive feedback current, including the B drive Q-axis feedback current PV_CurBq and the B drive D-axis feedback current PV_CurBd.

[0076] Exemplarily, in S160, performing a current loop PID closed-loop calculation according to the set current and the on-duty drive feedback current to obtain an on-duty drive current loop PID output result includes:

[0077] The current loop Q-axis PID closed-loop calculation is performed according to the set current and the on-duty driving Q-axis feedback current to obtain the on-duty driving current loop Q-axis PID output result.

[0078] The current loop D-axis PID closed-loop calculation is performed according to the set current and the on-duty driving D-axis feedback current to obtain the on-duty driving current loop D-axis PID output result.

[0079] Specifically, in this embodiment, if the on-duty drive is A drive, the current loop Q-axis PID closed-loop calculation is performed according to the set current SV_CurA (SV_CurA=SV_Cur) and the A drive Q-axis feedback current PV_CurAq to obtain the A drive current loop Q-axis PID output result Out_CurAq; the current loop D-axis PID closed-loop calculation is performed according to the set current 0 and the A drive D-axis feedback current PV_CurAd to obtain the A drive current loop D-axis PID output result Out_CurAd.

[0080] If the drive on duty is B drive, the current loop Q axis PID closed-loop calculation is performed according to the set current SV_CurB (SV_CurB=SV_Cur) and the B drive Q axis feedback current PV_CurBq to obtain the B drive current loop Q axis PID output result Out_CurBq; the current loop D axis PID closed-loop calculation is performed according to the set current 0 and the B drive D axis feedback current PV_CurBd to obtain the B drive current loop D axis PID output result Out_CurBd.

[0081] Exemplarily, in S170, the step of using the integral accumulation item in the on-duty drive current loop PID output result to update the integral accumulation item corresponding to the off-duty drive includes:

[0082] The Q-axis PID integral accumulation item in the Q-axis PID output result of the on-duty drive current loop is used to update the Q-axis PID integral accumulation item corresponding to the off-duty drive.

[0083] The D-axis PID integral accumulation item in the D-axis PID output result of the on-duty drive current loop is used to update the D-axis PID integral accumulation item corresponding to the off-duty drive.

[0084] Specifically, in this embodiment, if the on-duty drive is drive A, the Q-axis PID integral accumulation item in the Q-axis PID output result Out_CurAq of the A drive current loop is used to update the Q-axis PID integral accumulation item corresponding to drive B; the D-axis PID integral accumulation item in the D-axis PID output result Out_CurAd of the A drive current loop is used to update the D-axis PID integral accumulation item corresponding to drive B.

[0085] If the on-duty drive is drive B, the Q-axis PID integral accumulation item in the Q-axis PID output result Out_CurBq of the current loop of drive B is used to update the Q-axis PID integral accumulation item corresponding to drive A; the D-axis PID integral accumulation item in the D-axis PID output result Out_CurBd of the current loop of drive B is used to update the D-axis PID integral accumulation item corresponding to drive A.

[0086] Exemplarily, in S180, performing coordinate transformation and modulation according to the on-duty drive current loop PID output result and the motor resolver electrical angle to obtain the on-duty drive PWM control signal includes:

[0087] According to the Q-axis PID output result of the on-duty drive current loop, the D-axis PID output result of the on-duty drive current loop and the motor rotary electric angle, Park inverse coordinate transformation and space vector pulse width modulation are performed to obtain the on-duty drive PWM control signal.

[0088] Specifically, in this embodiment, if the on-duty drive is A drive, Park inverse coordinate transformation (Park inverse coordinate transformation is used to inversely transform the two-phase rotating current into two-phase orthogonal current) and space vector pulse width modulation are performed according to the A drive current loop Q-axis PID output result Out_CurAq, the A drive current loop D-axis PID output result Out_CurAd and the motor rotational electrical angle Ang to obtain the A drive PWM control signal.

[0089] If the drive on duty is B drive, Park inverse coordinate transformation (Park inverse coordinate transformation is used to inversely transform the two-phase rotating current into two-phase orthogonal current) and space vector pulse width modulation are performed according to the B drive current loop Q-axis PID output result Out_CurBq, the B drive current loop D-axis PID output result Out_CurBd and the motor rotational electrical angle Ang to obtain the B drive PWM control signal.

[0090] like Figure 2 The figure shows the speed curve of the prior art when the drive is switched, where the left vertical axis represents the speed (in rpm), the right vertical axis represents the drive selection (in this embodiment, 1 is A drive, 2 is B drive), the horizontal axis represents time (in ms), the black curve represents the set speed, the set speed is 7200 rpm, the red curve represents the measured speed value (i.e. the feedback speed), and the blue curve represents the drive selection result. Figure 2 It can be seen that at the moment of drive switching (0 to 30ms), the feedback speed fluctuates by about 300 to 500rpm, and then is adjusted within the normal range of 10 to 50rpm.

[0091] like Figure 3 The figure shows the speed curve when the drive is switched using the method of the present application, wherein the left vertical axis represents the speed (in rpm), the right vertical axis represents the drive selection (in this embodiment, 1 is A drive, 2 is B drive), the horizontal axis represents time (in ms), the black curve represents the set speed, the set speed is 9000 rpm, the red curve represents the measured speed value (i.e. the feedback speed), and the blue curve represents the drive selection result. Figure 3It can be seen that after the application uses the integral accumulation item in the PID output result of the on-duty drive current loop to update the integral accumulation item corresponding to the off-duty drive, at the moment of drive switching, the feedback speed farthest from the set speed is 8980rpm, that is, the maximum fluctuation of the feedback speed is 20rpm, and then it is adjusted within 20rpm.

[0092] like Figure 4 The figure shows the position curve when the drive is switched using the method of the present application, wherein the left vertical axis represents the unit position (in degrees), the right vertical axis represents the drive selection (in this embodiment, 1 is A drive, 2 is B drive), the horizontal axis represents time (in ms), the black curve represents the set position (i.e. the unit angle setting value), the red curve represents the position measured value (i.e. the unit angle feedback value), and the blue curve represents the drive selection result. Figure 4 It can be seen that after the application uses the integral accumulation item in the PID output result of the on-duty drive current loop to update the integral accumulation item corresponding to the off-duty drive, the fluctuation of the unit angle feedback value is within ±0.2 degrees regardless of whether the drive switching is performed when the position is rising, falling or in a steady state.

[0093] Combination Figure 3 and Figure 4 It can be seen that the use of the method of the present application improves the stability of drive control and the reliability of engine thrust and mixture ratio regulation.

[0094] The embodiment of the present application uses the integral accumulation item in the PID output result of the on-duty drive current loop to update the integral accumulation item corresponding to the off-duty drive, so that when the drive is switched, the integral accumulation item can stably connect and transition, thereby improving the drive control stability and the reliability of the engine thrust and mixture ratio adjustment.

[0095] The proposed method reads the motor resolver mechanical angle, converts the motor resolver mechanical angle into an electrical angle, and uses the motor resolver electrical angle as the motor resolver electrical angle, and then performs coordinate transformation in a rotating coordinate system, thereby improving precise torque and speed control.

[0096] The proposed Clark coordinate transformation and Park coordinate transformation are performed according to the on-duty drive phase current and the motor resolver electrical angle to obtain the two-phase rotating current as the on-duty drive feedback current, which is convenient for current loop PID closed-loop calculation in the rotating coordinate system.

[0097] The proposed method performs Park inverse coordinate transformation and space vector pulse width modulation according to the Q-axis PID output result of the on-duty drive current loop, the D-axis PID output result of the on-duty drive current loop and the motor resolver electrical angle to obtain the on-duty drive PWM control signal, thereby realizing precise control of the motor.

[0098] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0099] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A redundant driving method for an engine servo control unit, characterized in that: The following steps are involved: Collecting the first drive phase current and the second drive phase current of the dual redundant servo control unit; Obtaining a unit angle setting value and a unit angle feedback value, performing a position loop PID closed-loop calculation according to the unit angle setting value and the unit angle feedback value, and obtaining a set speed; Acquire the feedback speed, perform speed loop PID closed-loop calculation according to the set speed and the feedback speed, and obtain the set current; Get the motor resolver electrical angle; Determine the on-duty drive, perform coordinate transformation according to the on-duty drive phase current and the motor resolver electrical angle, and obtain the on-duty drive feedback current; Perform current loop PID closed-loop calculation according to the set current and the on-duty drive feedback current to obtain the on-duty drive current loop PID output result; The integral accumulation item in the on-duty drive current loop PID output result is used to update the integral accumulation item corresponding to the off-duty drive; Perform coordinate transformation and modulation according to the on-duty drive current loop PID output result and the motor resolver electrical angle to obtain the on-duty drive PWM control signal; The dual redundant servo control unit is driven according to the on-duty driving PWM control signal.

2. The redundant driving method of an engine servo control unit according to claim 1, characterized in that: The obtaining of the unit angle setting value and the unit angle feedback value comprises: Obtaining an angle adjustment instruction, and updating the angle setting value of the unit according to the angle adjustment instruction; The current code value of the unit resolver is read, and the current code value of the unit resolver is converted into an angle value as the unit angle feedback value.

3. The redundant driving method of an engine servo control unit according to claim 1, characterized in that: The obtaining of feedback rotation speed comprises: The current code value of the motor resolver is read, and the current code value of the motor resolver is converted into a rotation speed value as the feedback rotation speed.

4. The redundant driving method of an engine servo control unit according to claim 1, characterized in that: The obtaining of the motor resolver electrical angle comprises: The mechanical angle of the motor resolver is read, and the mechanical angle of the motor resolver is converted into an electrical angle as the electrical angle of the motor resolver.

5. The redundant driving method of an engine servo control unit according to claim 1, characterized in that: If the on-duty drive is the first drive, the first drive phase current is used as the on-duty drive phase current; If the on-duty drive is the second drive, the second drive phase current is used as the on-duty drive phase current.

6. The redundant driving method of an engine servo control unit according to claim 1, characterized in that: The coordinate transformation is performed according to the on-duty driving phase current and the motor resolver electrical angle to obtain the on-duty driving feedback current, which includes: Perform Clark coordinate transformation and Park coordinate transformation according to the on-duty driving phase current and the motor resolver electrical angle to obtain a two-phase rotating current as the on-duty driving feedback current; The on-duty driving feedback current includes: on-duty driving Q-axis feedback current and on-duty driving D-axis feedback current.

7. The redundant driving method of an engine servo control unit according to claim 6, characterized in that: The current loop PID closed-loop calculation is performed according to the set current and the on-duty drive feedback current to obtain the on-duty drive current loop PID output result, which includes: Perform current loop Q-axis PID closed-loop calculation according to the set current and the on-duty drive Q-axis feedback current to obtain the on-duty drive current loop Q-axis PID output result; The current loop D-axis PID closed-loop calculation is performed according to the set current and the on-duty driving D-axis feedback current to obtain the on-duty driving current loop D-axis PID output result.

8. The redundant driving method of an engine servo control unit according to claim 7, characterized in that: The updating of the integral accumulation item corresponding to the off-duty drive by using the integral accumulation item in the on-duty drive current loop PID output result comprises: The Q-axis PID integral accumulation item in the Q-axis PID output result of the on-duty drive current loop is used to update the Q-axis PID integral accumulation item corresponding to the off-duty drive; The D-axis PID integral accumulation item in the D-axis PID output result of the on-duty drive current loop is used to update the D-axis PID integral accumulation item corresponding to the off-duty drive.

9. The redundant driving method of an engine servo control unit according to claim 7, characterized in that: The coordinate transformation and modulation are performed according to the on-duty drive current loop PID output result and the motor resolver electrical angle to obtain the on-duty drive PWM control signal, which includes: According to the Q-axis PID output result of the on-duty drive current loop, the D-axis PID output result of the on-duty drive current loop and the motor rotary electric angle, Park inverse coordinate transformation and space vector pulse width modulation are performed to obtain the on-duty drive PWM control signal.

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