Motor three-phase current sampling fault control method and system, medium and product

Abstract

The invention discloses a motor three-phase current sampling fault control method and system, a medium and a product. Three-phase current values are obtained in real time; judging whether a three-phase current sampling fault exists or not according to the three-phase current value; wherein when a current sampling fault exists in at least one phase of the three phases, it is judged that a three-phase current sampling fault exists; if yes, judging whether only one phase of current has a sampling fault or not; if yes, the current value of the phase with the sampling fault is calculated according to a preset three-phase current relation formula; and controlling the torque of the motor according to the two-phase current value which is normally sampled and the calculated current value of the phase with the sampling fault. And if not, controlling the motor to enter an active short-circuit state or an open-circuit state. According to the invention, when only one phase of current is abnormal and the other two phases are normal, the current value of the abnormal phase can be calculated through the normal two-phase current, so that normal torque control can be carried out.

Description

Technical Field

[0001] The present invention relates to the technical field of functional safety of electric drive systems for electric vehicles, and in particular to a control method, system, medium and product for a three-phase current sampling fault of a motor. Background Art

[0002] Three-phase current sampling in the motor controller is crucial for motor control accuracy and torque response speed. By monitoring the three-phase current in real time, the control algorithm can understand the actual operating status of the motor, including load, efficiency, and health. This is very important for protecting the motor from overload and failure. Unbalanced three-phase current can cause uneven heating of the motor, which can affect the motor's lifespan in the long term. Accurately identifying a phase current sampling fault in the three-phase current helps to promptly adjust the control strategy to slow the electric drive system or enter a safe state, thereby avoiding compromising vehicle safety.

[0003] The three-phase current sampling fault in the motor controller software of the prior art will perform a range check on the U, V, and W three-phase current sampling values and accumulate abnormal values that exceed the range. When the accumulated value of any phase current exceeds the threshold, the fault will be latched and reported. Since the three-phase current sampling value is extremely important for torque calculation, in order to avoid situations such as vehicle loss of control, the fault response action made by the motor controller is to put the drive motor system into an active short circuit (ASC) or open circuit (FW) state. This safety measure will cut off the power output of the entire vehicle and quickly reduce the speed of the vehicle, reducing the risk of casualties. Although this safety measure can put the entire vehicle into a safe state, directly cutting off the power is a fault response that will only be taken without any other preventive measures. Summary of the Invention

[0004] In order to solve the technical problems existing in the background technology, the present invention proposes a control method, system, medium and product for three-phase current sampling fault of a motor.

[0005] The present invention proposes a method for controlling a motor three-phase current sampling fault, comprising:

[0006] Get the three-phase current values in real time;

[0007] Determine whether there is a three-phase current sampling fault based on the current values of the three phases; wherein, when there is a current sampling fault in at least one of the three phases, it is determined that there is a three-phase current sampling fault;

[0008] If so, determine whether there is a sampling fault in only one phase current;

[0009] If so, the current value of the phase with the sampling fault is calculated according to the preset three-phase current relationship formula;

[0010] The torque of the motor is controlled according to the two-phase current values sampled normally and the current value of the phase with sampling fault obtained by calculation;

[0011] If not, the motor is controlled to enter an active short-circuit state or an open-circuit state.

[0012] Preferably, judging whether there is a three-phase current sampling fault based on the three-phase current values specifically includes:

[0013] Determine whether the current value of each phase is within the preset range; if so, output the three-phase current sampling as normal; if not, use the sliding window anti-shake algorithm to perform fault anti-shake processing on the current value of a phase that is outside the preset range, and obtain the fault anti-shake processing result of the phase; the fault anti-shake processing result can be faulty or normal;

[0014] When the fault anti-shake processing result of the phase is normal, it is determined that the current sampling of the phase is normal;

[0015] When the fault anti-shake processing result of the phase is fault, it is determined that there is a three-phase current sampling fault.

[0016] Preferably, the sliding window anti-shake algorithm specifically includes:

[0017] Set a total counter and an anti-shake counter. The range of the sliding window counter is [0, m], and the range of the anti-shake counter is [0, n], where m>n;

[0018] The abnormal signal is processed normally; wherein, the total counter is used to directly add 1 to the abnormal signal and add 0 if there is no abnormality, to obtain a direct abnormality accumulated value; the anti-shake counter is used to delay the abnormal signal for m periods and then accumulate the count, adding 1 if there is an abnormality and adding 0 if there is no abnormality, to obtain a delayed abnormality accumulated value; the delayed abnormality accumulated value is subtracted from the direct abnormality accumulated value to obtain a first difference; when the first difference is greater than or equal to the fault confirmation threshold, a fault is reported and the fault is locked, that is, the fault anti-shake processing result of the phase is a fault;

[0019] The abnormal signal is inverted and accumulated. The total counter is used to directly add 1 to the normal signal count and 0 to the abnormal signal count to obtain a direct normal accumulated value. Similarly, the anti-shake counter is used to delay the signal for m periods and then accumulate the count, adding 1 to the normal signal and 0 to the abnormal signal to obtain a delayed normal accumulated value. The delayed accumulated value is subtracted from the direct accumulated value to obtain a second difference. When the second difference is greater than or equal to the fault recovery threshold, the fault is cleared and the output verification is normal, that is, the fault anti-shake processing result of this phase is normal.

[0020] Preferably, the preset three-phase current relationship formula is iU+iV+iW=0; wherein iU is the U-phase current, iV is the V-phase current, and iW is the W-phase current.

[0021] Preferably, controlling the motor to enter an active short-circuit state or an open-circuit state specifically includes:

[0022] Get the peak back electromotive force and bus voltage of the motor;

[0023] Determine whether the back electromotive force peak value is less than a preset threshold value; wherein the preset threshold value is the bus voltage multiplied by a predetermined percentage;

[0024] If so, the motor is controlled to enter an open circuit state; if not, the motor is controlled to enter an active short circuit state.

[0025] In a second aspect, the present invention further proposes a control system for a motor three-phase current sampling fault, comprising:

[0026] Acquisition module, used to obtain the current values of three phases in real time;

[0027] A judgment module is used to judge whether there is a three-phase current sampling fault based on the current values of the three phases; wherein, when there is a current sampling fault in at least one of the three phases, it is determined that there is a three-phase current sampling fault; if so, it is determined whether there is a sampling fault in only one phase current;

[0028] A calculation module, configured to calculate the current value of the phase with the sampling fault according to a preset three-phase current relationship formula when only one phase current has a sampling fault;

[0029] A control module is used to control the torque of the motor according to the two-phase current values sampled normally and the current value of the phase with sampling fault obtained by calculation;

[0030] Alternatively, when sampling faults exist in at least two phase currents, the motor is controlled to enter an active short-circuit state or an open-circuit state.

[0031] Preferably, the judgment process of the judgment module includes:

[0032] Based on the three-phase current values, determine whether there is a three-phase current sampling fault, specifically including:

[0033] Determine whether the current value of each phase is within the preset range; if so, output the three-phase current sampling as normal; if not, use the sliding window anti-shake algorithm to perform fault anti-shake processing on the current value of a phase that is outside the preset range, and obtain the fault anti-shake processing result of the phase; the fault anti-shake processing result can be faulty or normal;

[0034] When the fault anti-shake processing result of the phase is normal, it is determined that the current sampling of the phase is normal;

[0035] When the fault anti-shake processing result of the phase is fault, it is determined that there is a three-phase current sampling fault.

[0036] Preferably, the sliding window anti-shake algorithm specifically includes:

[0037] Set a total counter and an anti-shake counter. The range of the sliding window counter is [0, m], and the range of the anti-shake counter is [0, n], where m>n;

[0038] The abnormal signal is processed normally; wherein, the total counter is used to directly add 1 to the abnormal signal and add 0 if there is no abnormality, to obtain a direct abnormality accumulated value; the anti-shake counter is used to delay the abnormal signal for m periods and then accumulate the count, adding 1 if there is an abnormality and adding 0 if there is no abnormality, to obtain a delayed abnormality accumulated value; the delayed abnormality accumulated value is subtracted from the direct abnormality accumulated value to obtain a first difference; when the first difference is greater than or equal to the fault confirmation threshold, a fault is reported and the fault is locked, that is, the fault anti-shake processing result of the phase is a fault;

[0039] The abnormal signal is inverted and accumulated. The total counter is used to directly add 1 to the normal signal count and 0 to the abnormal signal count to obtain a direct normal accumulated value. Similarly, the anti-shake counter is used to delay the signal for m periods and then accumulate the count, adding 1 to the normal signal and 0 to the abnormal signal to obtain a delayed normal accumulated value. The delayed accumulated value is subtracted from the direct accumulated value to obtain a second difference. When the second difference is greater than or equal to the fault recovery threshold, the fault is cleared and the output verification is normal, that is, the fault anti-shake processing result of this phase is normal.

[0040] Preferably, the preset three-phase current relationship formula is iU+iV+iW=0; wherein iU is the U-phase current, iV is the V-phase current, and iW is the W-phase current.

[0041] Preferably, when there is a sampling fault in at least two-phase currents, the control module is also used to obtain the back electromotive force peak value and bus voltage of the motor; determine whether the back electromotive force peak value is less than a preset threshold; wherein the preset threshold is the bus voltage × a predetermined percentage; if so, the motor is controlled to enter an open circuit state; if not, the motor is controlled to enter an active short circuit state.

[0042] In a third aspect, the present invention further proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for controlling the motor three-phase current sampling fault as described in any one of the first aspects.

[0043] In a fourth aspect, the present invention further proposes a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the method for controlling a motor three-phase current sampling fault as described in any one of the first aspects.

[0044] In the present invention, the control method, system, medium and product for the three-phase current sampling fault of the motor proposed can, when only one phase current is abnormal but the other two phases are normal, calculate the current value of the abnormal phase through the normal two-phase current, so as to perform normal torque control. For the safety of the entire vehicle, the output of the power system can be limited, and the entire vehicle can be operated at a limited speed, ensuring that the torque control is not affected when only a single-phase current sampling fault exists; and when at least two phase currents are abnormal, the motor can be controlled to enter an active short-circuit state or an open-circuit state, cutting off the power output of the entire vehicle to quickly reduce the speed and reduce the risk of casualties. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 The figure is a flow chart of a method for controlling a motor three-phase current sampling fault in an embodiment of the present invention.

[0046] Figure 2 FIG. 1 is a flow chart of a sliding window anti-shake algorithm according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0048] Reference Figure 1 The present invention proposes a control method for a motor three-phase current sampling fault, comprising:

[0049] Get the three-phase current values in real time;

[0050] Determine whether there is a three-phase current sampling fault based on the current values of the three phases; wherein, when there is a current sampling fault in at least one of the three phases, it is determined that there is a three-phase current sampling fault;

[0051] If so, determine whether there is a sampling fault in only one phase current;

[0052] If so, the current value of the phase with the sampling fault is calculated according to the preset three-phase current relationship formula;

[0053] The torque of the motor is controlled according to the two-phase current values sampled normally and the current value of the phase with sampling fault obtained by calculation;

[0054] If not, the motor is controlled to enter an active short-circuit state or an open-circuit state.

[0055] The present invention can calculate the current value of the abnormal phase through the normal two-phase current when only one-phase current is abnormal but the other two phases are normal, thereby enabling normal torque control. For the safety of the entire vehicle, the output of the power system can be limited, and the entire vehicle can be operated at a limited speed, ensuring that the torque control is not affected when there is a sampling fault in only a single-phase current; and when at least two-phase currents are abnormal, the motor can be controlled to enter an active short-circuit state or an open-circuit state, cutting off the power output of the entire vehicle to quickly reduce the vehicle speed and reduce the risk of casualties.

[0056] In order to prevent false fault alarms caused by signal fluctuations, in this embodiment, judging whether there is a three-phase current sampling fault based on the three-phase current values specifically includes:

[0057] Determine whether the current value of each phase is within the preset range; if so, output the three-phase current sampling as normal; if not, use the sliding window anti-shake algorithm to perform fault anti-shake processing on the current value of a phase that is outside the preset range, and obtain the fault anti-shake processing result of the phase; the fault anti-shake processing result can be faulty or normal;

[0058] When the fault anti-shake processing result of the phase is normal, it is determined that the current sampling of the phase is normal;

[0059] When the fault anti-shake processing result of the phase is fault, it is determined that there is a three-phase current sampling fault.

[0060] Specifically, when the three-phase current sampling circuit and sampling parameter settings are normal, the sampling value of each phase should be within the preset range and recorded as a normal signal; if the phase current sampling value is not within the preset range, it is determined that the current phase current sampling is abnormal and is an abnormal signal.

[0061] like Figure 2 As shown, the sliding window anti-shake algorithm in this embodiment specifically includes:

[0062] Set a total counter and an anti-shake counter. The range of the sliding window counter is [0, m], and the range of the anti-shake counter is [0, n], where m>n;

[0063] The abnormal signal is cumulatively counted. The total counter is used to directly accumulate the count, adding 1 if there is an abnormality and 0 if there is no abnormality, to obtain a direct abnormality cumulative value. The anti-shake counter is used to delay the abnormal signal for m periods and then accumulate the count, adding 1 if there is an abnormality and 0 if there is no abnormality, to obtain a delayed abnormality cumulative value. The delayed abnormality cumulative value is subtracted from the direct abnormality cumulative value to obtain a first difference. When the first difference is greater than or equal to ErrDebTrh (fault confirmation threshold), a fault is reported and the fault is locked, i.e., the fault anti-shake processing result for the phase is a fault.

[0064] The abnormal signal is inverted and accumulated. The total counter is used to add 1 to the normal signal count and 0 to the abnormal signal count to obtain a direct normal accumulated value. Similarly, the anti-shake counter is used to delay the normal signal for m periods and then accumulate the count. The normal signal is added by 1 and the abnormal signal is added by 0 to obtain a delayed normal accumulated value. The delayed normal accumulated value is subtracted from the direct normal accumulated value to obtain a second difference. When the second difference is greater than or equal to NormDebTrh (fault recovery threshold), the fault is cleared and the output verification is normal, that is, the fault anti-shake processing result of this phase is normal.

[0065] In this embodiment, the sliding window counter can prevent false fault alarms caused by signal fluctuations.

[0066] In this embodiment, the preset three-phase current relationship formula is iU+iV+iW=0; wherein iU is the U-phase current, iV is the V-phase current, and iW is the W-phase current.

[0067] When any phase current is abnormal and the other two phase currents are normal, the magnitude of the abnormal current value of the other phase can be calculated from the normal two phase currents based on the relationship that the sum of the three-phase currents is 0, ensuring that torque control is not affected when only a single-phase current sampling fault occurs.

[0068] In this embodiment, controlling the motor to enter an active short-circuit state or an open-circuit state specifically includes:

[0069] Get the peak back electromotive force and bus voltage of the motor;

[0070] Determine whether the back electromotive force peak value is less than a preset threshold value; wherein the preset threshold value is the bus voltage multiplied by a predetermined percentage;

[0071] If so, the motor is controlled to enter an open circuit state; if not, the motor is controlled to enter an active short circuit state.

[0072] In a second aspect, the present invention further proposes a control system for a motor three-phase current sampling fault, comprising:

[0073] Acquisition module, used to obtain the current values of three phases in real time;

[0074] A judgment module is used to judge whether there is a three-phase current sampling fault based on the current values of the three phases; wherein, when there is a current sampling fault in at least one of the three phases, it is determined that there is a three-phase current sampling fault; if so, it is determined whether there is a sampling fault in only one phase current;

[0075] A calculation module, configured to calculate the current value of the phase with the sampling fault according to a preset three-phase current relationship formula when only one phase current has a sampling fault;

[0076] A control module is used to control the torque of the motor according to the two-phase current values sampled normally and the current value of the phase with sampling fault obtained by calculation;

[0077] Alternatively, when sampling faults exist in at least two phase currents, the motor is controlled to enter an active short-circuit state or an open-circuit state.

[0078] The judgment process of the judgment module in this embodiment includes:

[0079] Based on the three-phase current values, determine whether there is a three-phase current sampling fault, specifically including:

[0080] Determine whether the current value of each phase is within the preset range; if so, output the three-phase current sampling as normal; if not, use the sliding window anti-shake algorithm to perform fault anti-shake processing on the current value of a phase that is outside the preset range, and obtain the fault anti-shake processing result of the phase; the fault anti-shake processing result can be faulty or normal;

[0081] When the fault anti-shake processing result of the phase is normal, it is determined that the current sampling of the phase is normal;

[0082] When the fault anti-shake processing result of the phase is fault, it is determined that there is a three-phase current sampling fault.

[0083] The sliding window anti-shake algorithm specifically includes:

[0084] Set a total counter and an anti-shake counter. The range of the sliding window counter is [0, m], and the range of the anti-shake counter is [0, n], where m>n;

[0085] The abnormal signal is processed normally; wherein, the total counter is used to directly add 1 to the abnormal signal and add 0 if there is no abnormality, to obtain a direct abnormality accumulated value; the anti-shake counter is used to delay the abnormal signal for m periods and then accumulate the count, adding 1 if there is an abnormality and adding 0 if there is no abnormality, to obtain a delayed abnormality accumulated value; the delayed abnormality accumulated value is subtracted from the direct abnormality accumulated value to obtain a first difference; when the first difference is greater than or equal to the fault confirmation threshold, a fault is reported and the fault is locked, that is, the fault anti-shake processing result of the phase is a fault;

[0086] The abnormal signal is inverted and accumulated. The total counter is used to directly add 1 to the normal signal count and 0 to the abnormal signal count to obtain a direct normal accumulated value. Similarly, the anti-shake counter is used to delay the signal for m periods and then accumulate the count, adding 1 to the normal signal and 0 to the abnormal signal to obtain a delayed normal accumulated value. The delayed accumulated value is subtracted from the direct accumulated value to obtain a second difference. When the second difference is greater than or equal to the fault recovery threshold, the fault is cleared and the output verification is normal, that is, the fault anti-shake processing result of this phase is normal.

[0087] In this embodiment, the preset three-phase current relationship formula is iU+iV+iW=0; wherein iU is the U-phase current, iV is the V-phase current, and iW is the W-phase current.

[0088] In this embodiment, when there is a sampling fault in at least two-phase currents, the control module is also used to obtain the back electromotive force peak value and bus voltage of the motor; determine whether the back electromotive force peak value is less than a preset threshold; wherein the preset threshold is the bus voltage × a predetermined percentage; if so, the motor is controlled to enter an open circuit state; if not, the motor is controlled to enter an active short circuit state.

[0089] In a third aspect, the present invention further proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for controlling the motor three-phase current sampling fault as described in any one of the first aspects.

[0090] In a fourth aspect, the present invention further proposes a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the method for controlling a motor three-phase current sampling fault as described in any one of the first aspects.

[0091] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A control method for motor three-phase current sampling fault, characterized in that: include: Get the three-phase current values in real time; Determine whether there is a three-phase current sampling fault based on the current values of the three phases; wherein, when there is a current sampling fault in at least one of the three phases, it is determined that there is a three-phase current sampling fault; If so, determine whether there is a sampling fault in only one phase current; If so, the current value of the phase with the sampling fault is calculated according to the preset three-phase current relationship formula; The torque of the motor is controlled according to the two-phase current values sampled normally and the current value of the phase with sampling fault obtained by calculation; If not, the motor is controlled to enter an active short-circuit state or an open-circuit state.

2. The control method for motor three-phase current sampling failure according to claim 1, characterized in that: Based on the three-phase current values, determine whether there is a three-phase current sampling fault, specifically including: Determine whether the current value of each phase is within the preset range; if so, output the three-phase current sampling as normal; if not, use the sliding window anti-shake algorithm to perform fault anti-shake processing on the current value of a phase that is outside the preset range, and obtain the fault anti-shake processing result of the phase; the fault anti-shake processing result can be faulty or normal; When the fault anti-shake processing result of the phase is normal, it is determined that the current sampling of the phase is normal; When the fault anti-shake processing result of the phase is fault, it is determined that there is a three-phase current sampling fault; Preferably, the sliding window anti-shake algorithm specifically includes: Set a total counter and an anti-shake counter. The range of the sliding window counter is [0, m], and the range of the anti-shake counter is [0, n], where m>n; The abnormal signal is processed normally; wherein, the total counter is used to directly add 1 to the abnormal signal and add 0 if there is no abnormality, to obtain a direct abnormality accumulated value; the anti-shake counter is used to delay the abnormal signal for m periods and then accumulate the count, adding 1 if there is an abnormality and adding 0 if there is no abnormality, to obtain a delayed abnormality accumulated value; the delayed abnormality accumulated value is subtracted from the direct abnormality accumulated value to obtain a first difference; when the first difference is greater than or equal to the fault confirmation threshold, a fault is reported and the fault is locked, that is, the fault anti-shake processing result of the phase is a fault; The abnormal signal is inverted and accumulated. The total counter is used to directly add 1 to the normal signal count and 0 to the abnormal signal count to obtain a direct normal accumulated value. Similarly, the anti-shake counter is used to delay the signal for m periods and then accumulate the count, adding 1 to the normal signal and 0 to the abnormal signal to obtain a delayed normal accumulated value. The delayed accumulated value is subtracted from the direct accumulated value to obtain a second difference. When the second difference is greater than or equal to the fault recovery threshold, the fault is cleared and the output verification is normal, that is, the fault anti-shake processing result of this phase is normal.

3. The control method for motor three-phase current sampling failure according to claim 2, characterized in that: The preset three-phase current relationship formula is iU+iV+iW=0; wherein iU is the U-phase current, iV is the V-phase current, and iW is the W-phase current.

4. The control method for motor three-phase current sampling failure according to claim 1, characterized in that: Control the motor to enter the active short-circuit state or open-circuit state, including: Get the peak back electromotive force and bus voltage of the motor; Determine whether the back electromotive force peak value is less than a preset threshold value; wherein the preset threshold value is the bus voltage multiplied by a predetermined percentage; If so, the motor is controlled to enter an open circuit state; if not, the motor is controlled to enter an active short circuit state.

5. A control system for motor three-phase current sampling failure, characterized in that: include: Acquisition module, used to obtain the current values of three phases in real time; A judgment module is used to judge whether there is a three-phase current sampling fault based on the current values of the three phases; wherein, when there is a current sampling fault in at least one of the three phases, it is determined that there is a three-phase current sampling fault; if so, it is determined whether there is a sampling fault in only one phase current; A calculation module, configured to calculate the current value of the phase with the sampling fault according to a preset three-phase current relationship formula when only one phase current has a sampling fault; A control module is used to control the torque of the motor according to the two-phase current values sampled normally and the current value of the phase with sampling fault obtained by calculation; Alternatively, when sampling faults exist in at least two phase currents, the motor is controlled to enter an active short-circuit state or an open-circuit state.

6. The control system for motor three-phase current sampling failure according to claim 5, characterized in that: The judgment process of the judgment module includes: Based on the three-phase current values, determine whether there is a three-phase current sampling fault, specifically including: Determine whether the current value of each phase is within the preset range; if so, output the three-phase current sampling as normal; if not, use the sliding window anti-shake algorithm to perform fault anti-shake processing on the current value of a phase that is outside the preset range, and obtain the fault anti-shake processing result of the phase; the fault anti-shake processing result can be faulty or normal; When the fault anti-shake processing result of the phase is normal, it is determined that the current sampling of the phase is normal; When the fault anti-shake processing result of the phase is fault, it is determined that there is a three-phase current sampling fault; Preferably, the sliding window anti-shake algorithm specifically includes: Set a total counter and an anti-shake counter. The range of the sliding window counter is [0, m], and the range of the anti-shake counter is [0, n], where m>n; The abnormal signal is processed normally; wherein, the total counter is used to directly add 1 to the abnormal signal and add 0 if there is no abnormality, to obtain a direct abnormality accumulated value; the anti-shake counter is used to delay the abnormal signal for m periods and then accumulate the count, adding 1 if there is an abnormality and adding 0 if there is no abnormality, to obtain a delayed abnormality accumulated value; the delayed abnormality accumulated value is subtracted from the direct abnormality accumulated value to obtain a first difference; when the first difference is greater than or equal to the fault confirmation threshold, a fault is reported and the fault is locked, that is, the fault anti-shake processing result of the phase is a fault; The abnormal signal is inverted and accumulated. The total counter is used to directly add 1 to the normal signal count and 0 to the abnormal signal count to obtain a direct normal accumulated value. Similarly, the anti-shake counter is used to delay the signal for m periods and then accumulate the count, adding 1 to the normal signal and 0 to the abnormal signal to obtain a delayed normal accumulated value. The delayed accumulated value is subtracted from the direct accumulated value to obtain a second difference. When the second difference is greater than or equal to the fault recovery threshold, the fault is cleared and the output verification is normal, that is, the fault anti-shake processing result of this phase is normal.

7. The control system for motor three-phase current sampling failure according to claim 6, characterized in that: The preset three-phase current relationship formula is iU+iV+iW=0; wherein iU is the U-phase current, iV is the V-phase current, and iW is the W-phase current.

8. The control system for motor three-phase current sampling failure according to claim 1, characterized in that: When there is a sampling fault in at least two phase currents, the control module is also used to obtain the back electromotive force peak value and bus voltage of the motor; determine whether the back electromotive force peak value is less than a preset threshold; where the preset threshold is the bus voltage multiplied by a predetermined percentage; if so, the motor is controlled to enter an open circuit state; if not, the motor is controlled to enter an active short circuit state.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for controlling a motor three-phase current sampling fault as claimed in any one of claims 1 to 4 are implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method for controlling a motor three-phase current sampling fault as claimed in any one of claims 1 to 4 are implemented.

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