PIR controller and control method for DTP-PMSM full-speed-domain open-circuit fault-tolerant operation

Abstract

The invention discloses a PIR controller for DTP-PMSM full-speed-domain open-circuit fault-tolerant operation and a control method, and belongs to the field of current control of a three-phase permanent magnet synchronous motor. The control method comprises the following steps: modeling an open-phase fault of the DTP-PMSM to obtain a current expression of a fault winding; the method comprises the following steps of: performing coordinate change on three-phase current of a fault winding to obtain a double-frequency component and a direct current quantity of dq-axis current of the fault winding, simultaneously controlling the direct current quantity and the double-frequency component by adopting PIR control, establishing a transfer function of a PIR controller, performing improved bilinear variation discretization processing on the PIR controller, and performing predistortion processing on a signal; the variable quantity of the motor frequency is within the range of the resonance bandwidth of the PIR controller, parameters are kept unchanged, and the PIR resonant frequency can be ensured to change along with the rotating speed, and meanwhile, good rotating speed following performance is achieved. In addition, the PIR control can also solve the problem of frequency distortion of bilinear change at the required frequency in discretization processing.

Description

Technical Field

[0001] The invention belongs to the field of current control of a three-phase permanent magnet synchronous motor, and in particular relates to a PIR controller and a control method for open-circuit fault-tolerant operation of a DTP-PMSM in the full speed range. Background Art

[0002] Multiphase motors are generally considered to have high fault tolerance. Stator phase failure is a typical fault of multiphase motors, such as open phase failure. At present, a large number of scholars and institutions have done a lot of work on the modeling and control of phase failure of dual three phase permanent magnet synchronous motor (DTP-PMSM). At present, the controller of dual three phase permanent magnet synchronous motor generally uses proportional integral (PI) control, but because the dq axis current of DTP-PMSM contains both DC and AC quantities when one phase is open, the PI controller can only control the DC quantity. The current research generally uses low-pass filter and coordinate transformation to separate the DC and AC quantities of the current, and then use two PI controllers to obtain the voltage reference of the rotating coordinate system. In this way, the number of controllers will double, which is not suitable for industrial automation production and other situations. For this reason, there is an urgent need for an effective proportional integral resonant controller with low algorithm complexity that is suitable for a wide speed range of dual three phase permanent magnet synchronous motors. Summary of the invention

[0003] In view of the deficiencies in the prior art, the object of the present invention is to provide a PIR controller and a control method for open-circuit fault-tolerant operation of a DTP-PMSM at full speed range, thereby solving the problems in the prior art.

[0004] The purpose of the present invention can be achieved through the following technical solutions:

[0005] A PIR controller for open-circuit fault-tolerant operation of DTP-PMSM in full speed range is proposed. The mathematical model of the PIR controller is composed of the transfer function G ( s )Export:

[0006]

[0007] Where s is the complex frequency operator of the continuous signal, k p is the proportional gain, k i is the integral gain, k r is the resonant gain, ω c is the resonant angular bandwidth, ω r is the resonant angular frequency, where ω r =2πf r , fr is the resonant frequency.

[0008] The control method of the PIR controller for the full-speed open-circuit fault-tolerant operation of the DTP-PMSM comprises the following steps:

[0009] S1, model the open-phase fault of DTP-PMSM and obtain the current expression of the fault winding;

[0010] S2, based on the current expression of the fault winding, the coordinates of the three-phase current of the fault winding are changed to obtain the dual-frequency components and DC current of the dq axis current of the fault winding, and the DC current and dual-frequency components are controlled simultaneously by PIR control to establish the transfer function of the PIR controller;

[0011] S3, based on the transfer function of the PIR controller, the PIR controller is subjected to an improved bilinear variation discretization process to pre-distort the signal and obtain the processed transfer function.

[0012] Furthermore, the current expression of the fault winding is:

[0013]

[0014] Among them, i ABC is the phase current of the faulty three-phase winding ABC, I f is the current amplitude when phase A is open circuit, θ 1 is the current angle of phase ABC, and θ is the angle of the motor rotor.

[0015] Furthermore, the coordinate change expression of the three-phase current of the fault winding is:

[0016]

[0017] Furthermore, the transformation function of the improved bilinear variation discretization processing performed by the PIR controller is:

[0018]

[0019] Where s is the complex frequency operator of the transfer function, z is the discretized independent variable, ω is the frequency at which the frequency distortion is improved, and T is the sampling period.

[0020] Furthermore, the transfer function of the PIR controller after the improved bilinear variation discretization process is:

[0021] y(k)=b 0 e(k)+b 2 e(k-2)-a 1 y(k-1)-a 2 y(k-2)

[0022] Where k is a time variable, representing the kth moment; y(k) is the output term of the improved discretized transfer function at the kth moment; e(k) represents the error term at the kth moment; b 0 , b 2 are the coefficients of e(k) and e(k-2) after improved discretization, and a 1 、a 2 They are the coefficients of y(k-1) and y(k-2) after the discretization of the skill.

[0023] in:

[0024]

[0025] Where, T s is the sampling time, ω a is the angular frequency point of pre-distortion.

[0026] The control system of the PIR controller for DTP-PMSM full speed range open circuit fault tolerant operation includes:

[0027] Fault modeling module: Model the DTP-PMSM open-phase fault and obtain the current expression of the fault winding;

[0028] PIR controller modeling module: Based on the current expression of the fault winding, the coordinates of the three-phase current of the fault winding are changed to obtain the dual-frequency components and DC current of the dq axis current of the fault winding, and the DC current and dual-frequency components are controlled simultaneously by PIR control to establish the transfer function of the PIR controller;

[0029] And, a discretization processing module: based on the transfer function of the PIR controller, an improved bilinear variation discretization processing is performed on the PIR controller to pre-distort the signal and obtain the processed transfer function.

[0030] A computer storage medium stores a readable program, which can implement the control method of the PIR controller for DTP-PMSM full-speed open-circuit fault-tolerant operation when the program is running.

[0031] An electronic device, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus;

[0032] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the control method of the PIR controller for open-circuit fault-tolerant operation of the DTP-PMSM full-speed range.

[0033] A computer program product includes computer instructions, wherein the computer instructions instruct a computing device to execute operations corresponding to the control method of a PIR controller for full-speed open-circuit fault-tolerant operation of a DTP-PMSM.

[0034] Beneficial effects of the present invention:

[0035] 1. When the DTP-PMSM motor is transformed in double dq coordinates, the i of the rotating coordinate system generated by the transformation d1 、i q1 、i d2 and i q2 The current has both a DC quantity and a dual-frequency component (AC quantity); the PIR control adopted by the present invention can omit the steps of filtering and coordinate transformation, directly control the DC quantity and the AC quantity, and achieve the purpose of reducing the complexity of the algorithm without affecting the output voltage reference value.

[0036] 2. When the reference speed of DTP-PMSM changes, the frequency of the PIR controller of the current loop in the present invention will change accordingly, so that the frequency of the PIR controller can change with the change of the reference speed. In order to improve the speed ripple in the case of a fault, the change in the motor frequency is within the range of the resonant bandwidth of the PIR controller, and the parameters remain unchanged, while ensuring that the resonant frequency of the PIR can change with the speed, it has a certain stability and good speed following performance.

[0037] 3. The PIR control designed in the present invention can also solve the problem of frequency distortion of bilinear variation at the required frequency in the discretization process. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 It is a schematic diagram of variable frequency PIR control of a wide speed range single-channel open-phase DTP-PMSM of the present invention;

[0040] Figure 2 It is a comparison diagram of the transfer function in continuous, bilinear variation and pre-distorted bilinear transformation;

[0041] Figure 3 It is a schematic diagram of the structure comparing the actual value of the resonant frequency and the resonant frequency of the existing control and the improved control of the present invention. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] Example 1

[0044] In this embodiment, Figure 1 As shown in the figure, a PIR controller for open-circuit fault-tolerant operation of DTP-PMSM in full speed range is proposed, and its mathematical model and control application are introduced;

[0045] 1) DTP-PMSM open phase fault model:

[0046] The two sets of three-phase windings of DTP-PMSM are named phase ABC and phase XYZ respectively. Taking the open phase of phase A as an example, the current of the faulty winding ABC can be expressed as.

[0047]

[0048] Among them, i ABC is the phase current of the faulty three-phase winding ABC, I f is the current amplitude when phase A is open circuit, θ 1 is the current angle of phase ABC, and θ is the angle of the motor rotor.

[0049] Transform it in the dual dq coordinate system, and convert the ABC phase into the current in the dq coordinate system, i d1 ,i q1 for,

[0050]

[0051] It can be seen from formula (2) that i d1 and i q1 There is a dual-frequency current component, which is the cause of torque pulsation. In order to reduce the torque pulsation phenomenon, the compensation current component of a healthy three-phase winding should be 180 degrees different from the dual-frequency component, as shown below,

[0052]

[0053] Among them, θ 2 is the current angle of phase ABC.

[0054] Since the dq axis current under the double dq transformation includes both DC and dual-frequency components (AC), and the traditional PI control can only control the DC, in order to achieve the control target, the present invention adopts PIR control, which can omit the steps of filtering and coordinate transformation, directly control the DC and AC, and only requires half the controller of the mainstream control strategy, without affecting the output voltage reference value, to achieve the purpose of reducing the complexity of the algorithm.

[0055] 2) Mathematical model of PIR controller

[0056] The PIR controller used in the present invention is located in the current inner loop, the control quantity is the difference between four current reference signals and actual values, and the output quantity is four voltage reference signals.

[0057] The PIR controller operates at the resonant frequency f r The current controller can directly follow the sinusoidal reference signal i * q i * d , the steady-state error is 0. The mathematical model of the PIR controller is directly derived from the transfer function G(s) of the PI controller, as shown below.

[0058]

[0059] Where s is the complex frequency operator of the continuous signal, k p is the proportional gain, k i is the integral gain, k r is the resonant gain, ω c is the resonant angular bandwidth, ω r is the resonant angular frequency, where ω r =2πf r , f r is the resonant frequency;

[0060] If the above parameters are fixed parameters, the parameters of the transfer function remain unchanged. When the speed of the DTP-PMSM changes, the DC quantity of the PIR controller remains unchanged, but the AC quantity changes, that is, k p , k i unchanged, k r ,ω r change.

[0061] Since DTP-PMSM has speed changes and faults in actual applications, the fixed-parameter PIR controller cannot be applied to all situations. The present invention designs a PIR control that follows the motor speed changes.

[0062] The frequency of the alternating current of the DTP-PMSM is set to ω e ,ω eThe relationship between the rotation speed and the e =ω m gp / 60, where ω m is the motor speed, p is the number of pole pairs of DTP-PMSM, p = 5. The motor speed (ω m ) range is 0<ω m <1500rpm, the range of a is 0<a<125Hz. The resonant frequency of the PIR controller is set to f r , the range is 0<f r <125Hz. The relationship between speed and resonant frequency is as follows:

[0063]

[0064] Since the existing DTP-PMSM itself has a certain speed ripple when it fails, the PIR controller of the present invention introduces a resonance bandwidth f c , it can be seen from formula (7) that the resonant frequency change of DTP-PMSM is within the resonant bandwidth f c In the range of k r and f r remains unchanged, when the change of the motor resonant frequency exceeds f c The algorithm will automatically revise the parameters. Figure 2 As shown, the actual value of the resonant frequency is compared with the resonant frequency of the prior art control and the resonant frequency of the improved control of the present invention.

[0065] Next, the PIR controller in the present invention is subjected to an improved bilinear variation discretization process.

[0066] Since the angular frequency is more accurate when it is close to 0 during the bilinear change process, and frequency distortion will occur when it is close to ±π / T, the bilinear change can only maintain a good linear relationship between the s domain and the z domain in the low frequency band. Therefore, the bilinear transformation is only applicable to controllers with lower resonant frequencies. The application scenario of the present invention is a wide range of speed regulation systems. In order to improve the problem of frequency distortion, an improved bilinear transformation method is adopted, and its transformation equation is:

[0067]

[0068] Among them, s is the complex frequency operator of the transfer function, z is the independent variable of the transfer function after discretization, ω is the frequency at which the frequency distortion is improved, and T is the sampling period. It can be seen from Equation 5 that the controller amplitudes are equal at the frequency ω.

[0069] The transfer function of formula (6) is an s function. When the dual three-phase PMSM system is digitally controlled by PIR control, in order to simplify the discretization process, the present invention only discretizes the resonant controller, and its implementation can use bilinear changes. After the change, the differential equation of the controller is:

[0070] y(k)=b 0 e(k)+b 2 e(k-2)-a 1 y(k-1)-a 2 y(k-2) (7)

[0071] Where k is a time variable, representing the kth moment; y(k) is the output term of the improved discretized transfer function at the kth moment; e(k) represents the error term at the kth moment; b 0 , b 2 are the coefficients of e(k) and e(k-2) after improved discretization, and a 1 、a 2 They are the coefficients of y(k-1) and y(k-2) after the discretization of the skill.

[0072] in:

[0073]

[0074] Where, T s is the sampling time, ω a is the angular frequency point of pre-distortion.

[0075] Example 2

[0076] In this embodiment, a control method of a PIR controller for open-circuit fault-tolerant operation of a DTP-PMSM in full speed range is introduced.

[0077] First, find the problem:

[0078] (1) The resonant frequency point of PIR control is prone to high-frequency oscillation problems caused by switching of switching quantities. For the control of AC quantities, most existing methods use PIR control, but the resonant frequency point is mostly fixed. There are also some methods that can change the resonant frequency with different speeds, but most of them are table lookup methods, etc. This will cause a disadvantage. If the motor speed keeps oscillating at the switching point of the resonant frequency, the following will occur: Figure 2 The result of the blue line in the figure will pose a great threat to the stability and consistency of the entire system.

[0079] (2) The existing fault-tolerant control of dual three-phase permanent magnet synchronous motors in the case of single-phase open-circuit faults mostly adopts coordinate transformation and separate control of DC and AC quantities, which will cause problems such as complex control.

[0080] Then solve the problem:

[0081] (1) The present invention does not classify the resonant frequency based on certain fixed values, but uses the change as the basis for switching the resonant frequency. When the change in speed is greater than or equal to the speed bandwidth fc, that is, the change in the resonant frequency fr This approach can reduce the speed ripple caused by interference, harmonics, inverter nonlinearity, etc. when the motor is actually working, which causes the rapid switching of the resonant frequency, resulting in high-frequency signal interference.

[0082] (2) By omitting the negative sequence current coordinate transformation part and reducing eight PI controllers to four PIR controllers, both DC and AC quantities can be controlled simultaneously.

[0083] Based on the above content, a control method of a PIR controller for open-circuit fault-tolerant operation of a DTP-PMSM in full speed range is proposed. The control method of a PIR controller includes the following steps:

[0084] S1, model the open-phase fault of DTP-PMSM and obtain the current expression of the fault winding;

[0085] The experimental object of the present invention is a dual three-phase permanent magnet synchronous motor with a single open phase. Considering the influence of magnetic circuit saturation, the current expression of the fault winding is established (Formula (1)):

[0086]

[0087] Among them, i ABC is the phase current of the faulty three-phase winding ABC, I f is the current amplitude when phase A is open circuit, θ 1 is the current angle of phase ABC, and θ is the angle of the motor rotor.

[0088] S2, based on the current expression of the fault winding, the coordinates of the three-phase current of the fault winding are changed to obtain the dual-frequency components and DC current of the dq axis current of the fault winding, and the DC current and dual-frequency components are controlled simultaneously by PIR control to establish the transfer function of the PIR controller;

[0089] In the dual dq coordinate system, the ABC phases are converted into currents in the dq coordinate system. The coordinate change expression of the three-phase current of the fault winding is:

[0090]

[0091] In the formula, i d1 and i q1 There is a dual-frequency current component, which is the cause of torque ripple.

[0092] The transfer function G(s) of the PIR controller is:

[0093]

[0094] Where s is the complex frequency operator of the continuous signal, k p is the proportional gain, k i is the integral gain, k r is the resonant gain, ω c is the resonant angular bandwidth, ω r is the resonant angular frequency, where ω r =2πf r , f r is the resonant frequency.

[0095] S3, based on the transfer function of the PIR controller, the PIR controller is subjected to an improved bilinear variation discretization process to pre-distort the signal and obtain a processed transfer function;

[0096] In actual control, the motor control algorithm is generally loaded and controlled in a discrete manner, so the transfer function of formula (4) is discretized. Since the traditional bilinear signal can only maintain good signal tracking characteristics at low frequencies, but the present invention controls high-frequency signals, the signal needs to be pre-distorted during discretization, and its transformation function is shown in formula (6), and the discretized transfer function is shown in formula (7).

[0097] The transformation function of the improved bilinear variation discretization processing of the PIR controller is:

[0098]

[0099] Where s is the complex frequency operator of the transfer function, z is the independent variable of the transfer function after discretization; ω is the frequency at which the frequency distortion is improved, and T is the sampling period;

[0100] The transfer function of the PIR controller after improved bilinear variation discretization is:

[0101] y(k)=b 0 e(k)+b 2 e(k-2)-a 1 y(k-1)-a 2 y(k-2) (7)

[0102] Where k is a time variable, representing the kth moment; y(k) is the output term of the improved discretized transfer function at the kth moment; e(k) represents the error term at the kth moment; b 0 、b 2 are the coefficients of e(k) and e(k-2) after improved discretization, and a1 、a 2 They are the coefficients of y(k-1) and y(k-2) after the discretization of the skill.

[0103] in:

[0104]

[0105] Where, T s is the sampling time, ω a is the angular frequency point of pre-distortion.

[0106] The transfer function is compared between continuous, bilinear and predistorted bilinear changes. Figure 2 As shown. The purpose of discretization is to make the discrete control of motor control more consistent with the discretized Bode diagram. However, due to the selection of sampling time and the distortion of cut-off frequency, the bilinear change can have good tracking characteristics at low frequencies, but frequency distortion will occur at high frequencies. The method of the present invention is to perform pre-distortion processing at the resonant frequency of the motor. The motor resonant frequency is set to 100Hz, and the Figure 2 It can be seen that the amplitude and phase of the Bode diagram after pre-distortion discretization (red) and the continuous domain (blue) are consistent at the specified frequency (100Hz).

[0107] Based on similar inventive concepts, an embodiment of the present invention further provides a computer storage medium storing a control method of a PIR controller with fault operation.

[0108] Based on similar inventive concepts, an embodiment of the present invention provides an electronic device, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus;

[0109] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the control method of the PIR controller for open-circuit fault-tolerant operation of the DTP-PMSM full-speed range.

[0110] Based on similar inventive concepts, an embodiment of the present invention also provides a computer program product, including computer instructions, which instruct a computing device to execute operations corresponding to the above-mentioned control method of a PIR controller for open-circuit fault-tolerant operation of a DTP-PMSM at full speed range.

[0111] Example 3

[0112] In this embodiment, the effect of the control method in Embodiment 2 is experimentally verified, and the verification process is as follows:

[0113] Step 1: Establish the resonant frequency curve in actual control and the resonant frequency curve of the existing method (a method in which the current term mixed with DC and AC quantities is first subjected to coordinate transformation and then controlled by eight PI terms).

[0114] Step 2: Comparison of the resonant frequency proposed by the present invention with the first two methods (continuous domain and bilinear discretization variation).

[0115] The experimental results are as follows Figure 3 As shown, the red line is the actual value of the resonant frequency, and the blue line represents the resonant frequency of the existing control. It can be seen that when the resonant frequency is within the upper and lower limits of the table lookup method, due to the existence of various interference signals and speed ripples in the actual control, although the change amplitude is very small, it will cause unnecessary switching of the resonant frequency, generate high-frequency signals, and interfere with the controller. The present invention uses the change amplitude as a switching condition to solve this problem. Figure 3 It can be seen that the influence of high-frequency signals caused by frequency switching is reduced.

[0116] The method of the present invention may be implemented in hardware, firmware, or as software or computer code that may be stored in a recording medium (such as a CDROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code that is originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded over a network and will be stored in a local recording medium, so that the method described herein may be stored in such software processing on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that a computer, processor, microprocessor controller, or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, processor, or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown herein, the execution of the code converts the general-purpose computer into a dedicated computer for executing the method shown herein.

[0117] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A PIR controller for DTP-PMSM full speed open circuit fault tolerant operation, characterized in that: The mathematical model of the PIR controller is derived from the transfer function G(s): Where s is the complex frequency operator of the continuous signal, k p is the proportional gain, k i is the integral gain, k r is the resonant gain, ω c is the resonant angular bandwidth, ω r is the resonant angular frequency, where ω r =2πf r , f r is the resonant frequency.

2. The control method of the PIR controller for open-circuit fault-tolerant operation of a DTP-PMSM at full speed range as claimed in claim 1 comprises the following steps: S1, model the open-phase fault of DTP-PMSM and obtain the current expression of the fault winding; S2, based on the current expression of the fault winding, the coordinates of the three-phase current of the fault winding are changed to obtain the dual-frequency components and DC current of the dq axis current of the fault winding, and the DC current and dual-frequency components are controlled simultaneously by PIR control to establish the transfer function of the PIR controller; S3, based on the transfer function of the PIR controller, the PIR controller is subjected to an improved bilinear variation discretization process to pre-distort the signal and obtain the processed transfer function.

3. The control method of the PIR controller for DTP-PMSM full-speed open-circuit fault-tolerant operation according to claim 2, characterized in that: The current expression of the fault winding is: Among them, i ABC is the phase current of the faulty three-phase winding ABC, I f is the current amplitude when phase A is open circuit, θ1 is the current angle of phase ABC, and θ is the angle of the motor rotor.

4. The control method of the PIR controller for DTP-PMSM full-speed open-circuit fault-tolerant operation according to claim 3, characterized in that: The expression for coordinate change of the three-phase current of the fault winding is:

5. The control method of the PIR controller for DTP-PMSM full-speed open-circuit fault-tolerant operation according to claim 2, characterized in that: The transformation function of the improved bilinear variation discretization processing of the PIR controller is: Where s is the complex frequency operator of the transfer function, z is the discretized independent variable, ω is the frequency at which the frequency distortion is improved, and T is the sampling period.

6. The control method of the PIR controller for DTP-PMSM full-speed open-circuit fault-tolerant operation according to claim 5, characterized in that: The transfer function of the PIR controller after improved bilinear variation discretization is: y(k)=b0e(k)+b2e(k-2)-a1y(k-1)-a2y(k-2) Where k is the time variable, representing the kth moment; y(k) is the output term of the improved discretization transfer function at the kth moment; e(k) represents the error term at the kth moment; b0 and b2 are the coefficients of e(k) and e(k-2) after the improved discretization processing, respectively; a1 and a2 are the coefficients of y(k-1) and y(k-2) after the discretization processing of the skill, respectively. Where, T s is the sampling time, ω a is the angular frequency point of pre-distortion.

7. A control system for a PIR controller for full-speed open-circuit fault-tolerant operation of a DTP-PMSM, characterized in that: include: Fault modeling module: Model the DTP-PMSM open-phase fault and obtain the current expression of the fault winding; PIR controller modeling module: Based on the current expression of the fault winding, the coordinates of the three-phase current of the fault winding are changed to obtain the dual-frequency components and DC current of the dq axis current of the fault winding, and the DC current and dual-frequency components are controlled simultaneously by PIR control to establish the transfer function of the PIR controller; And, a discretization processing module: based on the transfer function of the PIR controller, an improved bilinear variation discretization processing is performed on the PIR controller to pre-distort the signal and obtain the processed transfer function.

8. A computer storage medium storing a readable program, characterized in that: When the program is running, the control method of the PIR controller for open-circuit fault-tolerant operation of DTP-PMSM at full speed range as described in any one of claims 2 to 6 can be executed.

9. An electronic device, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the control method of the PIR controller for open-circuit fault-tolerant operation of DTP-PMSM at full speed as described in any one of claims 2-6.

10. A computer program product comprising computer instructions, characterized in that: The computer instructions instruct the computing device to execute operations corresponding to the control method of the PIR controller for open-circuit fault-tolerant operation of the DTP-PMSM at full speed as described in any one of claims 2-6.

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