Intelligent control system and method of combined magnetic field six-phase motor

Abstract

The invention provides an intelligent control system of a combined magnetic field six-phase motor. The intelligent control system comprises a data acquisition module, a coordinate transformation module, a speed torque control module, a current regulation module, a PWM generation module, an inverter module, a PI controller and the combined magnetic field six-phase motor. According to the invention, stator current of the motor is converted from a three-phase static coordinate system to a two-phase rotating coordinate system by using Clarke and Park coordinate transformation algorithms, d-axis current and q-axis current of the combined magnetic field six-phase motor are accurately adjusted through a current PI regulator, a PWM generation module generates PWM waveforms through coordinate transformation and a PWM modulation strategy, and the PWM waveforms are converted into a three-phase static coordinate system. According to the method, the instantaneous given value of the six-phase stator current used for driving the motor is generated, accurate control over the motor is achieved, the stability and the dynamic performance of the system are improved, the motor works in a working area with the optimal efficiency by optimizing current adjustment and field-oriented control, and energy consumption and operation cost are reduced.

Description

Technical Field

[0001] The present invention relates to a control system and method, in particular to an intelligent control system and method for a combined magnetic field six-phase motor, belonging to the technical field of motor control systems. Background Art

[0002] Combined field six-phase motor refers to a motor with two sets of three-phase windings on the motor rotor, each consisting of two magnetic poles. It is also called a dual three-phase motor or a three-phase synchronous motor. Due to the two sets of three-phase windings, this motor can achieve higher speeds and higher efficiency. Its structural characteristics lie in the arrangement and combination of the six-phase windings (i.e., two sets of three-phase windings), and how they interact with the magnetic poles to generate a magnetic field and drive the rotor to rotate.

[0003] Combined field six-phase motors usually have complex magnetic field structures and multi-phase windings, so an intelligent control system is needed to ensure stable operation and optimize performance. The system combines computer science, artificial intelligence, mathematical models and information engineering technologies, collects system status information through the perception module, and uses the control knowledge and algorithms in the knowledge base to achieve autonomous control and optimization of the motor.

[0004] The current intelligent control system often cannot achieve efficient and accurate control in complex working conditions, such as load changes, voltage fluctuations, current fluctuations, especially when these parameters change frequently. Therefore, an intelligent control system and method for a combined magnetic field six-phase motor are proposed. Summary of the invention

[0005] In view of this, the present invention provides an intelligent control system and method for a combined magnetic field six-phase motor to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial option.

[0006] The technical solution of the embodiment of the present invention is implemented as follows: an intelligent control system for a combined magnetic field six-phase motor, comprising a data acquisition module, a coordinate transformation module, a speed torque control module, a current regulation module, a PWM generation module, an inverter module, a PI controller and a combined magnetic field six-phase motor, wherein the signal end of the data acquisition module is connected to the signal end of the coordinate transformation module, the signal end of the speed torque control module is respectively connected to the signal end of the coordinate transformation module and the signal end of the current regulation module, the signal end of the PWM generation module is respectively connected to the signal end of the current regulation module and the signal end of the inverter module, and the signal end of the PI controller is respectively connected to the signal end of the speed torque control module, the signal end of the current regulation module, the signal end of the inverter module and the signal end of the combined magnetic field six-phase motor;

[0007] The data acquisition module has built-in sensors, including photoelectric sensors, gyroscopes, accelerometers, current transformers, voltage transformers and torque sensors, for collecting status information of the combined magnetic field six-phase motor, including position, speed, acceleration, current, voltage and torque parameters;

[0008] The coordinate transformation module is used to transform the stator current of the combined field six-phase motor from a three-phase stationary coordinate system to a two-phase rotating coordinate system, i.e., dq axis, using Clarke and Park coordinate transformation;

[0009] The speed torque control module is used to calculate the current value and torque data of the combined magnetic field six-phase motor in real time, and then perform closed-loop control on the speed and torque of the combined magnetic field six-phase motor through the PI controller;

[0010] The current regulation module is used to regulate the d-axis and q-axis currents of the combined magnetic field six-phase motor through a current PI controller according to the output value of the speed torque control module;

[0011] The PWM production module is used to generate an instantaneous given value of a six-phase stator current for driving a combined magnetic field six-phase motor;

[0012] The PWM production module generates a PWM waveform through coordinate transformation and PWM modulation strategy according to the output of the current regulation module and the position angle of the rotor permanent magnet flux, and controls the on and off of the inverter module;

[0013] The inverter module is used to convert direct current into alternating current to provide the required six-phase stator current for the combined field six-phase motor.

[0014] Further preferably, the real-time calculation of the current value and torque data of the combined magnetic field six-phase motor comprises the following steps:

[0015] Initialization parameters: Set the initial parameters of the PI controller, including proportional gain and integral gain, and initialize the initial value of the integrator;

[0016] Get actual speed: read the output signal of the speed sensor and convert the signal into the actual speed value;

[0017] Calculate speed error: read the expected speed value and calculate the speed error value;

[0018] Speed ​​control: Input the speed error value into the PI controller and calculate the output value of the PI controller, i.e. the torque command;

[0019] Calculate torque error: read the expected torque value, read or estimate the actual torque value, and calculate the torque error data;

[0020] Torque control: Input the torque error into the PI controller and calculate the output value of the PI controller, that is, the current command.

[0021] Further preferably, the formula for calculating the speed error value is:

[0022] e v =w ref -w act

[0023] Among them, e v is the velocity error value, w ref is the reference speed, w act is the actual speed.

[0024] Further preferably, the calculation formula of the torque command is:

[0025] T cmd-v =K p-v ·e v +K i-v ·∫e v dt

[0026] E v Substituting into the above formula, we get:

[0027] T cmd-v =K p-v ·(w ref -w act )+K i-v ·∫(w ref -w act) dt

[0028] Among them, T cmd-v is the torque command output by the PI controller, K p-v is the speed proportional gain, K i-v is the speed integral gain.

[0029] Further preferably, the formula for calculating the torque error data is:

[0030] e T =T ref -T act

[0031] where e T is the torque error value, T ref is the expected torque, T act is the actual torque.

[0032] Further preferably, the calculation formula of the current instruction is:

[0033] I cmd-T =K p-T ·eT +K i-T ·∫e T dt

[0034] E T Substituting into the above formula, we get:

[0035] I cmd-T =K p-T ·(T ref -T act )+K i-T ·∫(T ref -T act )dt

[0036] Among them, I cmd-T is the current command value, K p-T is the proportionality coefficient, K i-T is the integral coefficient, ∫(T ref -T act ) is the time integral of the torque error.

[0037] Further preferably, the signal end of the combined magnetic field six-phase motor is connected to a protection module, a fault diagnosis module and a redundant control module;

[0038] The signal end of the fault diagnosis module is respectively connected with the signal end of the protection module and the signal end of the redundant control module;

[0039] The fault diagnosis module is used to monitor the operating status of the combined magnetic field six-phase motor in real time. When an abnormality is detected in the combined magnetic field six-phase motor, a signal is sent to the protection module, and the protection module cuts off the power supply of the combined magnetic field six-phase motor and issues an alarm.

[0040] Further preferably, the redundant control module is used to configure redundant control units and winding sets in the system, and automatically switch to a backup unit or winding set when a main control unit or winding set fails.

[0041] Further preferably, the signal end of the PI controller is connected to a data storage module;

[0042] The data storage module is used to store control data of the combined magnetic field six-phase motor.

[0043] An intelligent control method for a combined magnetic field six-phase motor comprises the following steps:

[0044] Step 1: Acquire the position, speed, acceleration, current, voltage, and torque parameter data of the combined magnetic field six-phase motor in real time, convert the acquired data into electrical signals and transmit them to the coordinate transformation module;

[0045] Step 2: Using Clarke and Park coordinate transformation algorithm, the stator current of the combined field six-phase motor is transformed from the three-phase stationary coordinate system to the two-phase rotating coordinate system;

[0046] Step 3: Calculate the current value and torque data of the combined magnetic field six-phase motor, and accurately control the speed and torque of the combined magnetic field six-phase motor;

[0047] Step 4: Accurately adjust the d-axis and q-axis currents of the motor through the current PI regulator;

[0048] Step 5: Generate PWM waveform through coordinate transformation and PWM modulation strategy according to the current command and the position angle of the rotor permanent magnet flux;

[0049] Step 6: Convert the PWM waveform into an actual six-phase stator current to provide the required power for the combined field six-phase motor, convert DC power into AC power, and transmit the power to the motor through the six-phase winding.

[0050] The embodiment of the present invention has the following advantages due to the adoption of the above technical solution:

[0051] The present invention converts the stator current of the motor from a three-phase stationary coordinate system to a two-phase rotating coordinate system by utilizing the Clarke and Park coordinate transformation algorithm, and accurately controls the speed and torque of the combined magnetic field six-phase motor by calculating the current value and torque data of the combined magnetic field six-phase motor. The d-axis and q-axis currents of the combined magnetic field six-phase motor are accurately adjusted by a current PI regulator. The PWM generation module generates a PWM waveform through coordinate transformation and a PWM modulation strategy, and generates an instantaneous given value of the six-phase stator current for driving the motor, thereby realizing accurate control of the motor, improving the stability and dynamic performance of the system, and optimizing current regulation and magnetic field oriented control so that the motor works in the best efficiency working area, thereby reducing energy consumption and operating costs.

[0052] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] 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.

[0054] Figure 1 It is a structural diagram of an intelligent control system of a combined magnetic field six-phase motor of the present invention;

[0055] Figure 2 The present invention is a flowchart of the steps of an intelligent control method for a combined magnetic field six-phase motor. DETAILED DESCRIPTION

[0056] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0057] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0058] like Figure 1-Figure 2 As shown, an embodiment of the present invention provides an intelligent control system for a combined magnetic field six-phase motor, comprising a data acquisition module, a coordinate transformation module, a speed torque control module, a current regulation module, a PWM generation module, an inverter module, a PI controller and a combined magnetic field six-phase motor, wherein a signal end of the data acquisition module is connected to a signal end of the coordinate transformation module, a signal end of the speed torque control module is respectively connected to a signal end of the coordinate transformation module and a signal end of the current regulation module, a signal end of the PWM generation module is respectively connected to a signal end of the current regulation module and a signal end of the inverter module, and a signal end of the PI controller is respectively connected to a signal end of the speed torque control module, a signal end of the current regulation module, a signal end of the inverter module and a signal end of the combined magnetic field six-phase motor;

[0059] The data acquisition module has built-in sensors, including photoelectric sensors, gyroscopes, accelerometers, current transformers, voltage transformers, and torque sensors, which are used to collect the status information of the combined magnetic field six-phase motor, including position, speed, acceleration, current, voltage, and torque parameters;

[0060] The coordinate transformation module uses Clarke and Park coordinate transformation to transform the stator current of the combined field six-phase motor from the three-phase stationary coordinate system to the two-phase rotating coordinate system, i.e., the dq axis, so as to realize field oriented control, so that the torque and flux components of the combined field six-phase motor can be independently controlled, and the control accuracy and stability can be improved;

[0061] The speed torque control module calculates the current value and torque data of the combined magnetic field six-phase motor in real time, and then performs closed-loop control of the speed and torque of the combined magnetic field six-phase motor through the PI controller, thereby achieving precise control of the motor speed and torque and improving the dynamic performance and steady-state accuracy of the motor;

[0062] The speed torque control module compares the difference between the actual speed and the expected speed and adjusts the torque of the motor;

[0063] The speed torque control module compares the difference between the actual torque and the expected torque and adjusts the motor current;

[0064] The current regulation module adjusts the d-axis and q-axis currents of the combined magnetic field six-phase motor through the current PI controller according to the output value of the speed torque control module to generate the required magnetic field and torque, ensure the stability and response speed of the motor current, and improve the operating efficiency and stability of the motor;

[0065] The PWM production module is used to generate the instantaneous given value of the six-phase stator current that drives the combined field six-phase motor, so as to realize the precise current control and efficient operation of the motor;

[0066] The PWM production module generates PWM waveforms based on the output of the current regulation module and the position angle of the rotor permanent magnet flux through coordinate transformation and PWM modulation strategy to control the on and off of the inverter module;

[0067] The inverter module is used to convert direct current into alternating current and provide the required six-phase stator current for the combined magnetic field six-phase motor. The inverter module can realize the conversion and transmission of electric energy and improve the power density and reliability of the motor.

[0068] In one embodiment, the current value and torque data of the combined field six-phase motor are calculated in real time, including the following steps:

[0069] Initialization parameters: Set the initial parameters of the PI controller, including proportional gain and integral gain, and initialize the initial value of the integrator;

[0070] Get actual speed: read the output signal of the speed sensor and convert the signal into the actual speed value;

[0071] Calculate speed error: read the expected speed value and calculate the speed error value;

[0072] Speed ​​control: Input the speed error value into the PI controller and calculate the output value of the PI controller, i.e. the torque command;

[0073] Calculate torque error: read the expected torque value, read or estimate the actual torque value, and calculate the torque error data;

[0074] Torque control: Input the torque error into the PI controller and calculate the output value of the PI controller, i.e. the current command;

[0075] In order to achieve more precise control, the dynamic characteristics of the combined field six-phase motor and the changes in external load can also be considered, such as introducing technologies such as parameter identification and adaptive control of the combined field six-phase motor to improve the robustness and adaptability of the control system.

[0076] The formula for calculating the speed error value is:

[0077] e v =w ref -w act

[0078] Among them, e v is the velocity error value, w ref is the reference speed, w act is the actual speed.

[0079] The calculation formula of torque command is:

[0080] T cmd -v=K p-v ·e v +K i-v ·∫e v dt

[0081] E v Substituting into the above formula, we get:

[0082] T cmd-v =K p-v ·(w ref -w act )+K i-v ·∫(w ref -w act) dt

[0083] Among them, T cmd-v is the torque command output by the PI controller, K p-v is the speed proportional gain, K i-v is the speed integral gain.

[0084] The formula for calculating torque error data is:

[0085] e T =T ref -T act

[0086] where e T is the torque error value, T ref is the expected torque, T act is the actual torque.

[0087] The calculation formula of current command is:

[0088] I cmd-T =K p-T ·eT +K i-T ·∫e T dt

[0089] E T Substituting into the above formula, we get:

[0090] I cmd-T =K p-T ·(T ref -T act )+K i-T ·∫(T ref -T act )dt

[0091] Among them, I cmd-T is the current command value, K p-T is the proportionality coefficient, K i-T is the integral coefficient, ∫(T ref -T act ) is the time integral of the torque error;

[0092] This embodiment provides an algorithm for real-time calculation of current values ​​and torque data of a combined magnetic field six-phase motor. The algorithm includes six steps: initializing parameters, obtaining actual speed, calculating speed error, speed control, calculating torque error and torque control. By accurately calculating the speed error and torque error and inputting them into a PI controller for adjustment, accurate torque instructions and current instructions can be obtained, thereby achieving precise control of the motor.

[0093] In one embodiment, the signal end of the combined field six-phase motor is connected to a protection module, a fault diagnosis module and a redundant control module;

[0094] The signal end of the fault diagnosis module is respectively connected with the signal end of the protection module and the signal end of the redundant control module;

[0095] The fault diagnosis module is used to monitor the operating status of the combined magnetic field six-phase motor in real time. When an abnormality is detected in the combined magnetic field six-phase motor, a signal is sent to the protection module, and the protection module cuts off the power supply of the combined magnetic field six-phase motor and issues an alarm.

[0096] Through the cooperation of the fault diagnosis module and the protection module, the motor can be protected from damage, the safety of the system can be improved, and the downtime and maintenance costs caused by motor failure can be reduced.

[0097] In one embodiment, a redundant control module is used to configure redundant control units and winding sets in the system. When a main control unit or winding set fails, it automatically switches to a backup unit or winding set. The redundant control module can improve the fault tolerance and reliability of the system and ensure the continuous operation of the system in harsh environments.

[0098] In one embodiment, the signal terminal of the PI controller is connected to a data storage module;

[0099] The data storage module stores the control data of the combined magnetic field six-phase motor. The data storage module is a readable memory, which facilitates reading the working data of the combined magnetic field six-phase motor.

[0100] An intelligent control method for a combined magnetic field six-phase motor comprises the following steps:

[0101] Step 1: Acquire the position, speed, acceleration, current, voltage, and torque parameter data of the combined magnetic field six-phase motor in real time, convert the acquired data into electrical signals and transmit them to the coordinate transformation module;

[0102] Step 2: Using Clarke and Park coordinate transformation algorithm, the stator current of the combined field six-phase motor is transformed from the three-phase stationary coordinate system to the two-phase rotating coordinate system;

[0103] Step 3: Calculate the current value and torque data of the combined magnetic field six-phase motor, and accurately control the speed and torque of the combined magnetic field six-phase motor;

[0104] Step 4: Accurately adjust the d-axis and q-axis currents of the motor through the current PI regulator;

[0105] Step 5: Generate PWM waveform through coordinate transformation and PWM modulation strategy according to the current command and the position angle of the rotor permanent magnet flux;

[0106] Step 6: Convert the PWM waveform into an actual six-phase stator current to provide the required power for the combined field six-phase motor, convert DC power into AC power, and transmit the power to the motor through the six-phase winding.

[0107] When the present invention is working: after the system is started, the parameter acquisition module starts working first, and acquires the position, speed, acceleration, current, voltage, and torque parameter data of the combined magnetic field six-phase motor in real time, converts the acquired data into electrical signals and transmits them to the coordinate transformation module. The coordinate transformation module uses the Clarke and Park coordinate transformation algorithm to transform the stator current of the motor from a three-phase static coordinate system to a two-phase rotating coordinate system. The dq axis current data output by the coordinate transformation module is input into the speed torque control module. The speed torque control module calculates the current value and torque data of the combined magnetic field six-phase motor, and accurately controls the speed and torque of the combined magnetic field six-phase motor. The current regulation module accurately regulates the d-axis and q-axis currents of the combined magnetic field six-phase motor through a current PI regulator according to the control instruction. The PWM generation module generates a PWM waveform through coordinate transformation and PWM modulation strategy, generates an instantaneous given value of the six-phase stator current for driving the motor, converts direct current into alternating current through an inverter module, and transmits electric energy to the combined magnetic field six-phase motor through a six-phase winding.

[0108] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An intelligent control system for a combined magnetic field six-phase motor, comprising a data acquisition module, a coordinate transformation module, a speed torque control module, a current regulation module, a PWM generation module, an inverter module, a PI controller and a combined magnetic field six-phase motor, characterized in that: The signal end of the data acquisition module is connected to the signal end of the coordinate transformation module, the signal end of the speed torque control module is respectively connected to the signal end of the coordinate transformation module and the signal end of the current regulation module, the signal end of the PWM production module is respectively connected to the signal end of the current regulation module and the signal end of the inverter module, and the signal end of the PI controller is respectively connected to the signal end of the speed torque control module, the signal end of the current regulation module, the signal end of the inverter module and the signal end of the combined magnetic field six-phase motor; The data acquisition module has built-in sensors, including photoelectric sensors, gyroscopes, accelerometers, current transformers, voltage transformers and torque sensors, for collecting status information of the combined magnetic field six-phase motor, including position, speed, acceleration, current, voltage and torque parameters; The coordinate transformation module is used to transform the stator current of the combined field six-phase motor from a three-phase stationary coordinate system to a two-phase rotating coordinate system, i.e., dq axis, using Clarke and Park coordinate transformation; The speed torque control module is used to calculate the current value and torque data of the combined magnetic field six-phase motor in real time, and then perform closed-loop control on the speed and torque of the combined magnetic field six-phase motor through the PI controller; The current regulation module is used to regulate the d-axis and q-axis currents of the combined magnetic field six-phase motor through a current PI controller according to the output value of the speed torque control module; The PWM production module is used to generate an instantaneous given value of a six-phase stator current for driving a combined magnetic field six-phase motor; The PWM production module generates a PWM waveform through coordinate transformation and PWM modulation strategy according to the output of the current regulation module and the position angle of the rotor permanent magnet flux, and controls the on and off of the inverter module; The inverter module is used to convert direct current into alternating current to provide the required six-phase stator current for the combined field six-phase motor.

2. The intelligent control system of a combined magnetic field six-phase motor according to claim 1, characterized in that: The real-time calculation of the current value and torque data of the combined magnetic field six-phase motor includes the following steps: Initialization parameters: Set the initial parameters of the PI controller, including proportional gain and integral gain, and initialize the initial value of the integrator; Get actual speed: read the output signal of the speed sensor and convert the signal into actual speed value; Calculate speed error: read the expected speed value and calculate the speed error value; Speed ​​control: Input the speed error value into the PI controller and calculate the output value of the PI controller, i.e. the torque command; Calculate torque error: read the expected torque value, read or estimate the actual torque value, and calculate the torque error data; Torque control: Input the torque error into the PI controller and calculate the output value of the PI controller, that is, the current command.

3. The intelligent control system of a combined magnetic field six-phase motor according to claim 2, characterized in that: The formula for calculating the speed error value is: have been v =w ref -w act Among them, e v is the velocity error value, w ref is the reference speed, w act is the actual speed.

4. The intelligent control system of a combined magnetic field six-phase motor according to claim 3 is characterized in that: The calculation formula of the torque command is: T cmd-v =K p-v ·e v +K i-v ·∫e v dt E v Substituting into the above formula, we get: T cmd-v =K p-v ·(w ref -w act )+K i-v ·∫(w ref -w act) dt Among them, T cmd-v is the torque command output by the PI controller, K p-v is the speed proportional gain, K i-v is the speed integral gain.

5. The intelligent control system of a combined magnetic field six-phase motor according to claim 4, characterized in that: The formula for calculating the torque error data is: e T =T ref -T act where e T is the torque error value, T ref is the expected torque, T act is the actual torque.

6. The intelligent control system of a combined magnetic field six-phase motor according to claim 5, characterized in that: The calculation formula of the current command is: I cmd-T =K p-T ·e T +K i-T ·∫e T dt E T Substituting into the above formula, we get: I cmd-T =K p-T ·(T ref -T act )+K i-T ·∫(T ref -T act )dt Among them, I cmd-T is the current command value, K p-T is the proportionality coefficient, K i-T is the integral coefficient, ∫(T ref -T act ) is the time integral of the torque error.

7. The intelligent control system of a combined magnetic field six-phase motor according to claim 6, characterized in that: The signal end of the combined magnetic field six-phase motor is connected to a protection module, a fault diagnosis module and a redundant control module; The signal end of the fault diagnosis module is respectively connected with the signal end of the protection module and the signal end of the redundant control module; The fault diagnosis module is used to monitor the operating status of the combined magnetic field six-phase motor in real time. When an abnormality is detected in the combined magnetic field six-phase motor, a signal is sent to the protection module, and the protection module cuts off the power supply of the combined magnetic field six-phase motor and issues an alarm.

8. The intelligent control system of a combined magnetic field six-phase motor according to claim 7, characterized in that: The redundant control module is used to configure redundant control units and winding sets in the system, and automatically switch to a backup unit or winding set when a main control unit or winding set fails.

9. The intelligent control system of a combined magnetic field six-phase motor according to claim 8, characterized in that: The signal end of the PI controller is connected to a data storage module; The data storage module is used to store control data of the combined magnetic field six-phase motor.

10. An intelligent control method for a combined magnetic field six-phase motor, applied to the intelligent control system of the combined magnetic field six-phase motor according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Acquire the position, speed, acceleration, current, voltage, and torque parameter data of the combined magnetic field six-phase motor in real time, convert the acquired data into electrical signals and transmit them to the coordinate transformation module; Step 2: Using Clarke and Park coordinate transformation algorithm, the stator current of the combined field six-phase motor is transformed from the three-phase stationary coordinate system to the two-phase rotating coordinate system; Step 3: Calculate the current value and torque data of the combined field six-phase motor, and accurately control the speed and torque of the combined field six-phase motor; Step 4: Accurately adjust the d-axis and q-axis currents of the motor through the current PI regulator; Step 5: Generate PWM waveform through coordinate transformation and PWM modulation strategy according to the current command and the position angle of the rotor permanent magnet flux; Step 6: Convert the PWM waveform into an actual six-phase stator current to provide the required power for the combined field six-phase motor, convert DC power into AC power, and transmit the power to the motor through the six-phase winding.

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