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

Abstract

The application discloses a PIR controller and a control method for fault-tolerant operation of DTP-PMSM in a full-speed domain open-circuit fault, and belongs to the current control field of three-phase permanent magnet synchronous motors. The control method comprises the following steps: modeling an open-phase fault of a DTP-PMSM to obtain a current expression of a fault winding; performing coordinate transformation on three-phase currents of the fault winding to obtain double-frequency components and a direct current of dq-axis currents of the fault winding; simultaneously controlling the direct current and the double-frequency components by using PIR control; performing improved bilinear transformation discretization processing on a transfer function of the PIR controller to perform pre-distortion processing on signals; and making a frequency variation of the motor within a resonance bandwidth of the PIR controller, so that parameters remain unchanged, the resonance frequency of the PIR can change with the speed, and good speed following performance is achieved. In addition, the PIR control can solve the frequency distortion problem of the bilinear transformation in the discretization processing at a required frequency.

Description

Technical Field

[0001] This invention belongs to the field of current control of three-phase permanent magnet synchronous motors, specifically relating to a PIR controller and control method for fault-tolerant operation of DTP-PMSM in the full-speed domain open-circuit fault range. Background Technology

[0002] Multiphase motors are generally considered to have high fault tolerance. Stator phase loss faults, such as open-phase faults, are a typical type of fault in multiphase motors. Currently, numerous scholars and institutions have conducted extensive work on the modeling and control of phase loss faults in dual three-phase permanent magnet synchronous motors (DTP-PMSMs). Currently, controllers for DTP-PMSMs generally use proportional-integral (PI) control. However, because the dq-axis current in a single open-phase DTP-PMSM contains both DC and AC currents, the PI controller can only control the DC current. Current research typically employs low-pass filters and coordinate transformations to separate the DC and AC currents, then uses two PI controllers to obtain the voltage reference in the rotating coordinate system. This doubles the number of controllers required, which is unsuitable for industrial automation. Therefore, there is an urgent need for an effective proportional-integral resonant controller suitable for a wide speed range of DTP-PMSMs with low algorithmic complexity. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to provide a PIR controller and control method for fault-tolerant operation of DTP-PMSM in the full-speed domain open-circuit fault range, thus solving the problems in the prior art.

[0004] The objective of this invention can be achieved through the following technical solutions:

[0005] A PIR controller for full-speed domain open-circuit fault-tolerant operation of DTP-PMSM, the mathematical model of which is composed of a transfer function. Export:

[0006]

[0007] Where s is the complex frequency operator for a continuous signal. k p It is proportional gain. k i It is integral gain. k r It is the resonant gain. ω c It is the resonant angular bandwidth. ω rIt is the resonant angular frequency, where, , f r It is the resonant frequency.

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

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

[0010] S2, based on the current expression of the fault winding, the coordinate transformation of the three-phase current of the fault winding is performed to obtain the dual-frequency component and DC quantity of the dq axis current of the fault winding, and PIR control is used to simultaneously control the DC quantity and dual-frequency component, and the transfer function of the PIR controller is established.

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

[0012] Furthermore, the current expression for the faulty winding is:

[0013]

[0014] in, i ABC Let be the phase current of the faulty three-phase windings ABC. I f This represents the current amplitude when phase A is open. θ 1 Let ABC be the current angle of phase ABC. θ The angle of the motor rotor.

[0015] Furthermore, the expression for the coordinate transformation of the three-phase current of the faulty winding is as follows:

[0016] .

[0017] Furthermore, the transformation function of the PIR controller for improved bilinear variation discretization processing is as follows:

[0018]

[0019] in, s For the complex frequency operator of the transfer function, z The independent variable is the discretized value. ω To improve the frequency at the point of frequency distortion, T is the sampling period.

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

[0021]

[0022] In the formula, k The time variable represents the first... k time; y(k) For the improved discretized transfer function k Output items at any given time; e(k) Representing the k Error term at time; b 0 , b 2 After the improved discretization process e(k) and e(k-2) coefficient, a 1 , a 2 The discretization of this skill is as follows y(k-1) and y(k-2) The coefficient.

[0023] in:

[0024]

[0025]

[0026]

[0027] In the formula, T s Sampling time, ω a It is the angular frequency point of the pre-distortion.

[0028] The control system for the PIR controller used in the full-speed domain open-circuit fault-tolerant operation of the DTP-PMSM includes:

[0029] Fault modeling module: Models open-phase faults in DTP-PMSM circuits to obtain the current expression for the faulty winding;

[0030] PIR controller modeling module: Based on the current expression of the fault winding, the coordinate transformation of the three-phase current of the fault winding is performed to obtain the dual-frequency component and DC current of the dq axis of the fault winding, and PIR control is used to simultaneously control the DC current and the dual-frequency component to establish the transfer function of the PIR controller.

[0031] In addition, the discretization processing module: based on the transfer function of the PIR controller, the PIR controller is subjected to improved bilinear variation discretization processing to pre-distort the signal and obtain the processed transfer function.

[0032] A computer storage medium storing a readable program, which, when the program is executed, enables the control method described above for the PIR controller used in the full-speed domain open-circuit fault-tolerant operation of the DTP-PMSM.

[0033] An electronic device includes: 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;

[0034] The memory is used to store at least one executable instruction that causes the processor to perform the operation corresponding to the control method of the PIR controller for full-speed domain open-circuit fault-tolerant operation of DTP-PMSM described above.

[0035] A computer program product includes computer instructions that instruct a computing device to perform operations corresponding to the control method described above for the PIR controller used in full-speed domain open-circuit fault-tolerant operation of DTP-PMSM.

[0036] The beneficial effects of this invention are:

[0037] 1. During the dual dq coordinate transformation of the DTP-PMSM motor, the i-axis of the resulting rotating coordinate system... d1 i q1 i d2 and i q2 The current simultaneously possesses both DC and dual-frequency components (AC). The PIR control employed in this invention can omit the steps of filtering and coordinate transformation, directly controlling both DC and AC quantities, thereby reducing algorithm complexity without affecting the output voltage reference value.

[0038] 2. When the reference speed changes, the frequency of the PIR controller in the current loop of the DTP-PMSM changes accordingly, allowing the PIR controller frequency to vary with the reference speed. To improve speed ripple under fault conditions, the parameters remain unchanged so that the change in motor frequency is within the resonant bandwidth of the PIR controller. This ensures that the PIR resonant frequency can change with the speed while maintaining a certain degree of stability and good speed following performance.

[0039] 3. The PIR control designed in this invention can also solve the problem of frequency distortion of bilinear variation at the required frequency during discretization processing. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the frequency conversion PIR control of the wide-speed-range single-channel open-phase DTP-PMSM of the present invention;

[0042] Figure 2 It is a comparison graph of the transfer function under continuous, bilinear and pre-distorted bilinear transformations;

[0043] Figure 3 This is a schematic diagram comparing the actual value of the resonant frequency with the resonant frequency of the existing control and the improved control of this invention. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] Example 1

[0046] In this embodiment, as Figure 1 As shown, a PIR controller for fault-tolerant operation of DTP-PMSM in the full-speed domain open-circuit fault is proposed, and its mathematical model and control application are introduced.

[0047] 1) DTP-PMSM open-phase fault model:

[0048] The two sets of three-phase windings of the DTP-PMSM are named phase ABC and phase XYZ, respectively. The electrical angles are separated. Taking phase A being open as an example, the current in the faulty ABC winding can be expressed as:

[0049] (1)

[0050] in, i ABC Let be the phase current of the faulty three-phase windings ABC. I f This represents the current amplitude when phase A is open. θ 1 Let ABC be the current angle of phase ABC. θ The angle of the motor rotor.

[0051] Transform it in the dual dq coordinate system, and convert ABC to phase. dq Current in coordinate system i d1 , i q1 for,

[0052] (2)

[0053] As can be seen from equation (2), i d1 and i q1 The presence of a dual-frequency current component is the cause of torque ripple. To mitigate torque ripple, the compensating current component of a healthy three-phase winding should be 180 degrees different from the dual-frequency component, as shown below.

[0054] (3)

[0055] in, θ 2 Let ABC be the current angle of phase ABC.

[0056] Due to double dq Transformation dq The shaft current includes both DC and dual-frequency components (AC). However, traditional PI control can only control the DC component. To achieve the control objective, this invention adopts PIR control, which can omit the filtering and coordinate transformation steps and directly control both DC and AC components. It also requires only half the controller of the mainstream control strategy, thereby reducing the algorithm complexity without affecting the output voltage reference value.

[0057] 2) Mathematical model of PIR controller

[0058] The PIR controller used in this invention is located in the inner current loop, and the control quantity is the difference between four current reference signals and the actual value, while the output quantity is four voltage reference signals.

[0059] PIR controller at resonant frequency f r It has infinite gain, so 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 of the PI controller. Export as shown in the following formula.

[0060] (4)

[0061] Where s is the complex frequency operator for a continuous signal. k p It is proportional gain. k i It is integral gain. k r It is the resonant gain. ω c It is the resonant angular bandwidth. ω r It is the resonant angular frequency, where, , f r It is the resonant frequency;

[0062] If the above parameters are constant, then all parameters of the transfer function remain unchanged. When the speed of the DTP-PMSM changes, the DC quantity of the PIR controller remains constant, while the AC quantity changes. k p , k i constant, k r , ω r change.

[0063] Since DTP-PMSM experiences speed variations and malfunctions in practical applications, a fixed-parameter PIR controller cannot be applied to all situations. Therefore, this invention designs a PIR controller that follows the changes in motor speed.

[0064] Set the frequency of the AC input of the DTP-PMSM to... ω e , ω e The relationship between the rotational speed and the rotational speed is ,in, This refers to the motor speed. p The pole logarithm of the DTP-PMSM. p=5 The motor speed ( ω m ) range is , can be obtained a The range is The resonant frequency of the PIR controller is set to... f r , range The relationship between rotational speed and resonant frequency is as follows:

[0065] (5)

[0066] Existing DTP-PMSM controllers exhibit speed ripple when a fault occurs. Therefore, the PIR controller of this invention introduces a resonant bandwidth.f c As can be seen from equation (7), the change in resonant frequency of DTP-PMSM is within the resonant bandwidth. f c Within the range, k r and f r Keeping constant, when the change in the motor resonant frequency exceeds f c The algorithm will automatically revise the parameters at that time. For example... Figure 2 The diagram shows a comparison between the actual value of the resonant frequency, the resonant frequency of existing control, and the resonant frequency of the improved control of this invention.

[0067] Next, the PIR controller in this invention undergoes an improved bilinear variation discretization process.

[0068] Because in the bilinear transformation process, the angular frequency is more accurate as it approaches 0, and more accurate as it approaches 0... ±π / T Frequency distortion can occur, so the bilinear transformation can only maintain a good linear relationship between the s-domain and z-domain in the low-frequency range. Therefore, the bilinear transformation is only suitable for controllers with low resonant frequencies. This invention is applied to wide-range speed control systems. To improve the frequency distortion problem, an improved bilinear transformation method is adopted, and its transformation equation is:

[0069] (6)

[0070] Where s is the complex frequency operator of the transfer function, and z is the independent variable of the discretized transfer function; ω To improve the frequency at the point of frequency distortion, where T is the sampling period, it can be seen from Equation 5 that at the frequency... ω The amplitudes of the controllers are equal.

[0071] The transfer function of equation (6) is an s-function. When using PIR control to digitally control a dual three-phase PMSM system, in order to simplify the discretization process, this invention only discretizes the resonant controller. Its implementation can use bilinear transformation, and the difference equation of the controller after transformation is:

[0072] (7)

[0073] In the formula, k The time variable represents the first... k time; y(k) For the improved discretized transfer function k Output items at any given time; e(k) Representing the k Error term at time; b 0 ,b 2 After the improved discretization process e(k) and e(k-2) coefficient, a 1 , a 2 The discretization of this skill is as follows y(k-1) and y(k-2) The coefficient.

[0074] in:

[0075]

[0076]

[0077]

[0078] In the formula, T s Sampling time, ω a It is the angular frequency point of the pre-distortion.

[0079] Example 2

[0080] This embodiment introduces a control method for a PIR controller used in the full-speed domain open-circuit fault-tolerant operation of a DTP-PMSM.

[0081] First, identify the problem:

[0082] (1) High-frequency oscillations during switching of switching quantities are prone to occur at the resonant frequency point of PIR control. Most existing methods for controlling AC quantities use PIR control, but the resonant frequency point is mostly fixed. Some methods can change the resonant frequency according to different speeds, but these are mostly lookup table methods, which have a drawback: if the motor speed oscillates continuously at the resonant frequency switching point, high-frequency oscillations will occur, such as... Figure 2 The result of the blue line in the diagram poses a significant threat to the stability and consistency of the entire system.

[0083] (2) Existing fault-tolerant control of dual three-phase permanent magnet synchronous motors under single-phase open-circuit fault conditions mostly adopts coordinate transformation and separate control of DC and AC quantities, which will cause problems such as control complexity.

[0084] Then solve the problem:

[0085] (1) This invention does not classify resonant frequencies based on certain fixed values, but rather uses the amount of change as the basis for switching resonant frequencies. When the change in rotational speed is greater than or equal to the rotational speed bandwidth fc, that is, when the change in resonant frequency fr is greater than or equal to... Only when the resonant frequency is changed to the current value will it be changed. This practice can reduce the speed ripple caused by interference, harmonics, inverter nonlinearity, etc. during actual motor operation. Rapid switching of the resonant frequency caused by this can lead to high-frequency signal interference.

[0086] (2) The negative sequence current coordinate transformation part is omitted, and the eight PI controllers are reduced to four PIR controllers, which can control DC and AC quantities simultaneously.

[0087] Based on the above, a control method for a PIR controller used in the full-speed domain open-circuit fault-tolerant operation of a DTP-PMSM is proposed. The control method for the PIR controller includes the following steps:

[0088] S1, Model the open-phase fault of DTP-PMSM to obtain the current expression of the fault winding;

[0089] The experimental object of this invention is a single-phase open-circuit dual three-phase permanent magnet synchronous motor. Considering the influence of magnetic circuit saturation, the current expression of the fault winding is established (Equation (1)):

[0090] (1)

[0091] in, i ABC Let be the phase current of the faulty three-phase windings ABC. I f This represents the current amplitude when phase A is open. θ 1 Let ABC be the current angle of phase ABC. θ The angle of the motor rotor.

[0092] S2, based on the current expression of the fault winding, the coordinate transformation of the three-phase current of the fault winding is performed to obtain the dual-frequency component and DC quantity of the dq axis current of the fault winding, and PIR control is used to simultaneously control the DC quantity and dual-frequency component, and the transfer function of the PIR controller is established.

[0093] Transformation in the dual dq coordinate system: ABC phase transformation dq The expression for the coordinate transformation of the three-phase current of the fault winding in the coordinate system is as follows:

[0094] (2)

[0095] In the formula, i d1 and i q1 The presence of dual-frequency current components is the cause of torque pulsation.

[0096] PIR controller transfer function for:

[0097] (4)

[0098] Where s is the complex frequency operator for a continuous signal. k p It is proportional gain. k i It is integral gain. k r It is the resonant gain. ω c It is the resonant angular bandwidth. ω r It is the resonant angular frequency, where, , f r It is the resonant frequency.

[0099] S3, based on the transfer function of the PIR controller, the PIR controller is subjected to improved bilinear variation discretization processing to pre-distort the signal and obtain the processed transfer function.

[0100] In actual control, the motor control algorithm is generally loaded and controlled in a discrete manner, so the transfer function of equation (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. Its transformation function is shown in equation (6), and the discretized transfer function is shown in equation (7).

[0101] The transformation function for the improved bilinear variation discretization of the PIR controller is:

[0102] (6)

[0103] Where s is the complex frequency operator of the transfer function, and z is the independent variable of the discretized transfer function; ω To improve the frequency at the point of frequency distortion, T is the sampling period;

[0104] The transfer function of the PIR controller after the improved bilinear variation discretization is:

[0105] (7)

[0106] In the formula, k The time variable represents the first... k time; y(k) For the improved discretized transfer function k Output items at any given time; e(k) Representing the k Error term at time;b 0 , b 2 After the improved discretization process e(k) and e(k-2) coefficient, a 1 , a 2 The discretization of this skill is as follows y(k-1) and y(k-2) The coefficient.

[0107] in:

[0108]

[0109]

[0110]

[0111] In the formula, T s Sampling time, ω a It is the angular frequency point of the pre-distortion.

[0112] The transfer function in comparison with continuous, bilinear, and pre-distorted bilinear transformations is as follows: Figure 2 As shown. The purpose of discretization is to better conform to the discrete control of motor control; the discretized Bode plot should be consistent with the Bode plot in the continuous domain. However, due to the selection of sampling time and distortion of the cutoff frequency, the bilinear transformation can have good tracking characteristics at low frequencies, but frequency distortion will occur at high frequencies. The present invention performs pre-distortion processing at the motor's resonant frequency. The motor resonant frequency is set to 100Hz, and... Figure 2 It can be seen that the Bode plot and the continuous domain (blue) after pre-distortion discretization (red) have the same amplitude and phase at the specified frequency (100Hz).

[0113] Based on a similar inventive concept, embodiments of the present invention also provide a computer storage medium storing a control method for a PIR controller that operates without error.

[0114] Based on a similar inventive concept, this invention provides an electronic device, including: 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;

[0115] The memory is used to store at least one executable instruction that causes the processor to perform the operation corresponding to the control method of the PIR controller for full-speed domain open-circuit fault-tolerant operation of DTP-PMSM described above.

[0116] Based on a similar inventive concept, embodiments of the present invention also provide a computer program product, including computer instructions, which instruct a computing device to perform operations corresponding to the control method described above for the PIR controller used for full-speed domain open-circuit fault-tolerant operation of DTP-PMSM.

[0117] Example 3

[0118] In this embodiment, the effectiveness of the control method in Embodiment 2 is experimentally verified. The verification process is as follows:

[0119] Step 1: Establish the resonant frequency curve in actual control and the resonant frequency curve of the existing method (the method of first transforming the current term that mixes DC and AC quantities and then controlling it with eight PI terms).

[0120] Step 2: Comparison of the resonant frequency proposed in this invention with the previous two methods (continuous domain and bilinear discretization transformation).

[0121] Experimental results are as follows Figure 3 As shown, the red line represents 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 lookup table method, due to the presence of various interference signals and speed ripple in the actual control, although the change amplitude is small, it will cause unnecessary switching of the resonant frequency, generating high-frequency signals that interfere with the controller. This invention solves this problem by using the change amplitude as the switching condition. Figure 3 It can be seen that the impact of frequency switching on high-frequency signals has been reduced.

[0122] The methods of the present invention can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code originally stored on a remote recording medium or a non-transitory machine-readable medium and subsequently stored on a local recording medium, downloaded via a network. Thus, the methods described herein can be processed by software stored 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 the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., RAM, ROM, flash memory, etc.) capable of storing or receiving software or computer code that, when accessed and executed by the computer, processor, or hardware, implements the methods described herein. Furthermore, when a general-purpose computer accesses the code used to implement the methods shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for performing the methods shown herein.

[0123] The foregoing has shown and described 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. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A PIR controller for full-speed domain open-circuit fault-tolerant operation of DTP-PMSM, characterized in that, The mathematical model of the PIR controller is composed of a transfer function. Export: Where s is the complex frequency operator for a continuous signal. K p It is proportional gain. K i It is integral gain. K r It is the resonant gain. ω c It is the resonant angular bandwidth. ω r It is the resonant angular frequency, and , f r It is the resonant frequency; resonant frequency f r and motor speed The relationship is as follows: in, p The pole logarithm of the DTP-PMSM. f c The resonant bandwidth; When the resonant frequency f r The change in resonant bandwidth f c When within the range, f r The resonant frequency remains unchanged. f r The change exceeded f c The algorithm will automatically revise the parameters at that time.

2. The control method for the PIR controller used in the full-speed domain open-circuit fault-tolerant operation of DTP-PMSM as described in claim 1, comprising the following steps: S1, Model the open-phase fault of DTP-PMSM to obtain the current expression of the fault winding; S2, based on the current expression of the fault winding, the coordinate transformation of the three-phase current of the fault winding is performed to obtain the dual-frequency component and DC quantity of the dq axis current of the fault winding, and PIR control is used to simultaneously control the DC quantity and dual-frequency component, and the transfer function of the PIR controller is established. S3, based on the transfer function of the PIR controller, performs improved bilinear variation discretization processing on the PIR controller to pre-distort the signal and obtain the processed transfer function.

3. The control method for the PIR controller used in the full-speed domain open-circuit fault-tolerant operation of DTP-PMSM according to claim 2, characterized in that, The current expression for the faulty winding is: in, i ABC Let be the phase current of the faulty three-phase windings ABC. I f This represents the current amplitude when phase A is open. θ 1 Let ABC be the current angle of phase ABC. θ The angle of the motor rotor.

4. The control method for the PIR controller used in the full-speed domain open-circuit fault-tolerant operation of DTP-PMSM according to claim 3, characterized in that, The expression for the coordinate transformation of the three-phase current of the faulty winding is as follows: 。 5. The control method for the PIR controller used in the full-speed domain open-circuit fault-tolerant operation of DTP-PMSM according to claim 2, characterized in that, The transformation function for the improved bilinear discretization processing of the PIR controller is as follows: in, s For the complex frequency operator of the transfer function, z The independent variable is the discretized value. ω To improve the frequency at the point of frequency distortion, T is the sampling period.

6. The control method for the PIR controller used in the full-speed domain open-circuit fault-tolerant operation of DTP-PMSM according to claim 5, characterized in that, The transfer function of the PIR controller after the improved bilinear variation discretization is: In the formula, k The time variable represents the first... k time; y(k) For the improved discretized transfer function k Output items at any given time; e (k) Representing the k Error term at time; b 0 , b 2 After the improved discretization process e(k) and e(k-2) coefficient, a 1 , a 2 After the improved discretization process y(k-1) and y(k-2) The coefficient; in: In the formula, T s Sampling time, ω a It is the angular frequency point of the pre-distortion.

7. A control system for a PIR controller used in full-speed domain open-circuit fault-tolerant operation of a DTP-PMSM, characterized in that, The system is used to implement the control method of the PIR controller for full-speed domain open-circuit fault-tolerant operation of DTP-PMSM as described in any one of claims 2-6, the system comprising: Fault modeling module: Models open-phase faults in DTP-PMSM circuits to obtain the current expression for the faulty winding; PIR controller modeling module: Based on the current expression of the fault winding, the coordinate transformation of the three-phase current of the fault winding is performed to obtain the dual-frequency component and DC current of the dq axis current of the fault winding, and PIR control is used to simultaneously control the DC current and the dual-frequency component to establish the transfer function of the PIR controller. In addition, the discretization processing module: based on the transfer function of the PIR controller, the PIR controller is subjected to improved bilinear variation discretization processing 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 runs, it can execute the control method of the PIR controller for full-speed domain open-circuit fault-tolerant operation of DTP-PMSM as described in any one of claims 2-6.

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

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