A three-phase switched reluctance motor phase error detection and fault-tolerant control method

Abstract

The present invention discloses a method for phase mismatch detection and fault-tolerant control of a three-phase switched reluctance motor, which relates to the field of motor technology and includes the following steps: S1, determining whether the phase mismatch detection state of the three-phase switched reluctance motor is greater than 0, if not, entering S2, and if so, entering S4; the phase mismatch detection state is 0 before the first execution of S1; S2, determining whether the original three-phase current peak value meets the threshold condition, if so, entering S3, otherwise entering S5; S3, completing the phase mismatch detection; S4, completing the phase current control; S5, determining that the phase mismatch detection failed, rotating the rotor to another position, and performing the next phase mismatch detection. The present invention can implement fault-tolerant control based on the detection results, avoiding performance issues such as increased torque pulsation caused by phase mismatch and the increased workload of reconnecting phase lines.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to a method for phase mismatch detection and fault-tolerant control of a three-phase switched reluctance motor. Background Art

[0002] Inconsistent definitions of motor windings between the motor manufacturer and the motor controller manufacturer can cause the motor to misalign. For example, the B-phase winding is connected to the terminal on the controller originally intended for the C-phase winding, while the C-phase winding is connected to the terminal on the controller originally intended for the B-phase winding. For switched reluctance motors, most existing controllers do not have a phase misalignment detection function, let alone the function of automatically adapting the phase current sensors and the main switching tubes of each phase to the motor's phase windings. Therefore, running the motor in a misaligned state is likely to result in large torque pulsations, lower efficiency, and even reverse rotation. If abnormal operation is detected, the phase wires can be reconnected until normal operation is restored, but this process is time-consuming. Before connecting the motor phase wires for the first time, the motor phase sequence can also be determined by energizing each phase winding individually to avoid phase misalignment, but this process is also time-consuming. Summary of the Invention

[0003] In order to solve the above problems, the present invention proposes a three-phase switched reluctance motor phase error detection and fault-tolerant control method.

[0004] The technical solution of the present invention is: a three-phase switched reluctance motor phase error detection and fault-tolerant control method comprises the following steps:

[0005] S1: Determine whether the phase error detection status of the three-phase switched reluctance motor is greater than 0. If not, proceed to S2; if yes, proceed to S4. The phase error detection status is 0 before the first execution of S1.

[0006] S2. Obtain the current peak value measured by the original A-phase current sensor, the current peak value measured by the original B-phase current sensor, and the current peak value measured by the original C-phase current sensor, and determine whether the original three-phase current peak values ​​meet the threshold conditions. If so, proceed to S3; otherwise, proceed to S5.

[0007] S3. Determine the phase mismatch detection state based on the current peak value measured by the original A-phase current sensor, the current peak value measured by the original B-phase current sensor, the current peak value measured by the original C-phase current sensor, and the expected A-phase current peak value, the expected B-phase current peak value, and the expected C-phase current peak value, and complete the phase mismatch detection;

[0008] S4. Obtain the current measured by the original A-phase current sensor, the current measured by the original B-phase current sensor, and the current measured by the original C-phase current sensor to complete phase current control;

[0009] S5. Determine that the phase mismatch detection fails, rotate the rotor to another position, and perform the next phase mismatch detection.

[0010] Furthermore, S2 includes the following sub-steps:

[0011] S21, determine the rotor position interval and enter S22;

[0012] S22, apply the same rectangular wave voltage to the three-phase windings, and enter S23;

[0013] S23, obtaining the current peak value measured by the original A-phase current sensor, the current peak value measured by the original B-phase current sensor, and the current peak value measured by the original C-phase current sensor;

[0014] S24. Determine whether the absolute value of the difference between the current peak value measured by the original A-phase current sensor and the current peak value measured by the original B-phase current sensor, the absolute value of the difference between the current peak value measured by the original B-phase current sensor and the current peak value measured by the original C-phase current sensor, and the absolute value of the difference between the current peak value measured by the original A-phase current sensor and the current peak value measured by the original C-phase current sensor are all greater than the set threshold value. If so, enter S3; otherwise, enter S5.

[0015] Furthermore, in S21 , the rotor period is divided using the A-phase misalignment position, the C-phase alignment position, the B-phase misalignment position, the A-phase alignment position, the C-phase misalignment position, and the B-phase alignment position to obtain a rotor position interval.

[0016] Furthermore, in S22 , the high level and the low level of the rectangular wave voltage are the positive DC bus voltage and the negative DC bus voltage, respectively;

[0017] The rectangular wave voltage has a fixed positive voltage duration, and the current peak value when the rectangular wave voltage changes from positive to negative is less than or equal to the critical saturation current value;

[0018] The time duration during which the voltage of the rectangular wave voltage is negative is fixed, and the current drops to zero before the voltage of the rectangular wave voltage changes from negative to positive.

[0019] Furthermore, in S3, when the rotor position is in an open interval with the phase A misaligned position and the phase C aligned position as endpoints, the expected phase A current peak value > the expected phase B current peak value > the expected phase C current peak value;

[0020] When the rotor position is in an open interval with the C-phase aligned position and the B-phase misaligned position as endpoints, the expected B-phase current peak value > the expected A-phase current peak value > the expected C-phase current peak value;

[0021] When the rotor position is in an open interval with the B-phase misaligned position and the A-phase aligned position as endpoints, the expected B-phase current peak value > the expected C-phase current peak value > the expected A-phase current peak value;

[0022] When the rotor position is in an open interval with the phase A aligned position and the phase C misaligned position as endpoints, the expected phase C current peak value > the expected phase B current peak value > the expected phase A current peak value;

[0023] When the rotor position is in an open interval with the C-phase misaligned position and the B-phase aligned position as endpoints, the expected C-phase current peak value > the expected A-phase current peak value > the expected B-phase current peak value;

[0024] When the rotor position is in an open interval with the B-phase aligned position and the A-phase misaligned position as endpoints, the expected A-phase current peak value > the expected C-phase current peak value > the expected B-phase current peak value.

[0025] Furthermore, in S3, when the rotor position is in an open interval with the A-phase misaligned position and the C-phase aligned position as endpoints, if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original C-phase current sensor, then the phase mismatch detection state is 1; if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor, then the phase mismatch detection state is 2; if the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original A-phase current sensor If the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 3; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 4; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 5; if the current peak value measured by the original C-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 6;

[0026] When the rotor position is in the open interval with the C-phase aligned position and the B-phase misaligned position as the endpoints, if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 4; if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 6; if the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original A-phase current sensor The current peak value is , then the phase error detection state is 5; if the current peak value measured by the original B phase current sensor > the current peak value measured by the original A phase current sensor > the current peak value measured by the original C phase current sensor, then the phase error detection state is 1; if the current peak value measured by the original B phase current sensor > the current peak value measured by the original C phase current sensor > the current peak value measured by the original A phase current sensor, then the phase error detection state is 3; if the current peak value measured by the original C phase current sensor > the current peak value measured by the original A phase current sensor > the current peak value measured by the original B phase current sensor, then the phase error detection state is 2;

[0027] When the rotor position is in the open interval with the B-phase misaligned position and the A-phase aligned position as the endpoints, if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 6; if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 4; if the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original A-phase current sensor If the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 2; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 1; if the current peak value measured by the original C-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 5;

[0028] When the rotor position is in an open interval with the A-phase aligned position and the C-phase misaligned position as endpoints, if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 3; if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 5; if the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original A-phase current sensor If the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 1; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 2; if the current peak value measured by the original C-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 4;

[0029] When the rotor position is in the open interval with the C-phase misaligned position and the B-phase aligned position as the endpoints, if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 5; if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 3; if the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original A-phase current sensor If the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 4; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 2; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 6; if the current peak value measured by the original C-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 1;

[0030] When the rotor position is in the open interval with the B-phase aligned position and the A-phase misaligned position as the endpoints, if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 2; if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 1; if the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original A-phase current sensor If the current peak value measured by the original B phase current sensor is greater than the current peak value measured by the original A phase current sensor and greater than the current peak value measured by the original C phase current sensor, the phase mismatch detection state is 6. If the current peak value measured by the original B phase current sensor is greater than the current peak value measured by the original C phase current sensor and greater than the current peak value measured by the original A phase current sensor, the phase mismatch detection state is 5. If the current peak value measured by the original B phase current sensor is greater than the current peak value measured by the original C phase current sensor and greater than the current peak value measured by the original A phase current sensor, the phase mismatch detection state is 4. If the current peak value measured by the original C phase current sensor is greater than the current peak value measured by the original A phase current sensor and greater than the current peak value measured by the original B phase current sensor, the phase mismatch detection state is 3.

[0031] Furthermore, S4 includes the following sub-steps:

[0032] S41, obtaining the current measured by the original A-phase current sensor, the current measured by the original B-phase current sensor, and the current measured by the original C-phase current sensor;

[0033] S42, according to the phase mismatch detection state, the current measured by the original phase A current sensor, the current measured by the original phase B current sensor, and the current measured by the original phase C current sensor, obtain the actual current of phase A, the actual current of phase B, and the actual current of phase C, and enter S43;

[0034] S43, obtain the three-phase given current and enter S44;

[0035] S44, complete phase current control.

[0036] Furthermore, in S42, when the phase error detection state is 1, the actual current of phase A is equal to the current measured by the original phase A current sensor, the actual current of phase B is equal to the current measured by the original phase B current sensor, and the actual current of phase C is equal to the current measured by the original phase C current sensor;

[0037] When the phase error detection state is 2, the actual current of phase A is equal to the current measured by the original phase A current sensor, the actual current of phase B is equal to the current measured by the original phase C current sensor, and the actual current of phase C is equal to the current measured by the original phase B current sensor;

[0038] When the phase error detection state is 3, the actual current of phase A is equal to the current measured by the original phase C current sensor, the actual current of phase B is equal to the current measured by the original phase B current sensor, and the actual current of phase C is equal to the current measured by the original phase A current sensor;

[0039] When the phase error detection state is 4, the actual current of phase A is equal to the current measured by the original phase B current sensor, the actual current of phase B is equal to the current measured by the original phase A current sensor, and the actual current of phase C is equal to the current measured by the original phase C current sensor;

[0040] When the phase error detection state is 5, the actual current of phase A is equal to the current measured by the original phase B current sensor, the actual current of phase B is equal to the current measured by the original phase C current sensor, and the actual current of phase C is equal to the current measured by the original phase A current sensor;

[0041] When the phase error detection state is 6, the actual current of phase A is equal to the current measured by the original phase C current sensor, the actual current of phase B is equal to the current measured by the original phase A current sensor, and the actual current of phase C is equal to the current measured by the original phase B current sensor.

[0042] Furthermore, S44 includes the following sub-steps:

[0043] S441. Determine and temporarily store data to be written into registers related to the main switch drive signal based on the current measured by the original A-phase current sensor, the current measured by the original B-phase current sensor, the current measured by the original C-phase current sensor, and a given current.

[0044] S442. According to the phase error detection state, the temporarily stored data is written into the drive signal related register to complete the phase current control.

[0045] Furthermore, in S442, when the phase error detection state is 1, the data originally used for phase A among the data to be written into the main switch tube drive signal related register is written into the original phase A main switch tube drive signal related register, the data originally used for phase B is written into the original phase B main switch tube drive signal related register, and the data originally used for phase C is written into the original phase C main switch tube drive signal related register;

[0046] When the phase error detection state is 2, the data originally used for phase A among the data that needs to be written into the main switch tube drive signal related register is written into the original phase A main switch tube drive signal related register, the data originally used for phase B is written into the original phase C main switch tube drive signal related register, and the data originally used for phase C is written into the original phase B main switch tube drive signal related register;

[0047] When the phase error detection state is 3, the data originally used for phase A among the data that needs to be written into the main switch tube drive signal related register is written into the original phase C main switch tube drive signal related register, the data originally used for phase B is written into the original phase B main switch tube drive signal related register, and the data originally used for phase C is written into the original phase A main switch tube drive signal related register;

[0048] When the phase error detection state is 4, the data originally used for phase A among the data that needs to be written into the main switch tube drive signal related register is written into the original phase B main switch tube drive signal related register, the data originally used for phase B is written into the original phase A main switch tube drive signal related register, and the data originally used for phase C is written into the original phase C main switch tube drive signal related register;

[0049] When the phase error detection state is 5, the data originally used for phase A among the data that needs to be written into the main switch tube drive signal related register is written into the original phase B main switch tube drive signal related register, the data originally used for phase B is written into the original phase C main switch tube drive signal related register, and the data originally used for phase C is written into the original phase A main switch tube drive signal related register;

[0050] When the phase error detection state is 6, the data originally used for phase A among the data that needs to be written into the main switch tube drive signal related register is written into the original C phase main switch tube drive signal related register, the data originally used for phase B is written into the original A phase main switch tube drive signal related register, and the data originally used for phase C is written into the original B phase main switch tube drive signal related register.

[0051] The beneficial effects of the present invention are as follows: the present invention can detect the specific phase error type for a three-phase switched reluctance motor after the motor controller is powered on and before the motor is started; it can automatically adjust the correspondence between the current measured by each phase current sensor and the actual current of each phase, as well as the correspondence between each main switch and each phase winding, based on the detection results, thereby achieving fault-tolerant control and avoiding performance problems such as increased torque pulsation due to phase error and the increased workload of reconnecting the phase lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 Flowchart of a method for phase mismatch detection and fault-tolerant control of a three-phase switched reluctance motor;

[0053] Figure 2 A structural diagram of an asymmetric half-bridge power converter used in an embodiment of the present invention;

[0054] Figure 3 Schematic diagram of the waveform of the phase inductance and the pulse current measured by the current sensor when the phase line is correctly connected in an embodiment of the present invention;

[0055] Figure 4Schematic diagram of the waveform of the pulse current measured by the phase inductor and the current sensor when the phase A is connected correctly but the phases B and C are connected reversely in an embodiment of the present invention;

[0056] Figure 5 Schematic diagram of the waveform of the pulse current measured by the phase inductor and the current sensor when the B phase is connected correctly but the A and C phases are connected reversely in an embodiment of the present invention;

[0057] Figure 6 Schematic diagram of the waveform of the pulse current measured by the phase inductor and the current sensor when the C phase is connected correctly but the A and B phases are connected reversely in an embodiment of the present invention;

[0058] Figure 7 Schematic diagram of the waveforms of the phase inductance and the pulse current measured by the current sensor when the A-phase, B-phase, and C-phase windings are respectively connected to the terminals on the controller originally used to connect the B-phase, C-phase, and A-phase windings in an embodiment of the present invention;

[0059] Figure 8 Schematic diagram of the waveforms of the phase inductance and the pulse current measured by the current sensor when the A-phase, B-phase, and C-phase windings are respectively connected to the terminals on the controller originally used to connect the C-phase, A-phase, and B-phase windings in an embodiment of the present invention;

[0060] Figure 9 This is a simulation waveform diagram of an embodiment of the present invention;

[0061] Figure 10 for Figure 9 A partial enlarged view of . DETAILED DESCRIPTION

[0062] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0063] like Figure 1 As shown, the present invention provides a three-phase switched reluctance motor phase error detection and fault-tolerant control method, comprising the following steps:

[0064] S1: Determine whether the phase error detection status of the three-phase switched reluctance motor is greater than 0. If not, proceed to S2; if yes, proceed to S4. The phase error detection status is 0 before the first execution of S1.

[0065] S2. Obtain the current peak value measured by the original A-phase current sensor, the current peak value measured by the original B-phase current sensor, and the current peak value measured by the original C-phase current sensor, and determine whether the original three-phase current peak values ​​meet the threshold conditions. If so, proceed to S3; otherwise, proceed to S5.

[0066] S3. Determine the phase mismatch detection state based on the current peak value measured by the original A-phase current sensor, the current peak value measured by the original B-phase current sensor, the current peak value measured by the original C-phase current sensor, and the expected A-phase current peak value, the expected B-phase current peak value, and the expected C-phase current peak value, and complete the phase mismatch detection;

[0067] S4. Obtain the current measured by the original A-phase current sensor, the current measured by the original B-phase current sensor, and the current measured by the original C-phase current sensor to complete phase current control;

[0068] S5. Determine that the phase mismatch detection fails, rotate the rotor to another position, and perform the next phase mismatch detection.

[0069] In this embodiment of the present invention, S2 includes the following sub-steps:

[0070] S21, determine the rotor position interval and enter S22;

[0071] S22, apply the same rectangular wave voltage to the three-phase windings, and enter S23;

[0072] S23, obtaining the current peak value measured by the original A-phase current sensor, the current peak value measured by the original B-phase current sensor, and the current peak value measured by the original C-phase current sensor;

[0073] S24. Determine whether the absolute value of the difference between the current peak value measured by the original A-phase current sensor and the current peak value measured by the original B-phase current sensor, the absolute value of the difference between the current peak value measured by the original B-phase current sensor and the current peak value measured by the original C-phase current sensor, and the absolute value of the difference between the current peak value measured by the original A-phase current sensor and the current peak value measured by the original C-phase current sensor are all greater than the set threshold value. If so, enter S3; otherwise, enter S5.

[0074] The acquisition of the current peak value is completed at the moment before the rectangular wave voltage changes from positive to negative.

[0075] Threshold i δ The value is positive and close to 0, the threshold i δ The purpose of setting is to avoid incorrect phase mismatch detection due to rotor position and current detection errors when the rotor is near the end points of the rotor position range.

[0076] In the embodiment of the present invention, in S21, the rotor period is divided by the A-phase misalignment position, the C-phase alignment position, the B-phase misalignment position, the A-phase alignment position, the C-phase misalignment position and the B-phase alignment position to obtain the rotor position interval.

[0077] In the embodiment of the present invention, in S22, the high level and the low level of the rectangular wave voltage are respectively the positive DC bus voltage and the negative DC bus voltage;

[0078] The rectangular wave voltage has a fixed positive voltage duration, and the current peak value when the rectangular wave voltage changes from positive to negative is less than or equal to the critical saturation current value;

[0079] The time duration during which the voltage of the rectangular wave voltage is negative is fixed, and the current drops to zero before the voltage of the rectangular wave voltage changes from negative to positive.

[0080] In the embodiment of the present invention, in S3, when the rotor position is in an open interval with the A-phase misaligned position and the C-phase aligned position as endpoints, the expected A-phase current peak value>the expected B-phase current peak value>the expected C-phase current peak value;

[0081] When the rotor position is in an open interval with the C-phase aligned position and the B-phase misaligned position as endpoints, the expected B-phase current peak value > the expected A-phase current peak value > the expected C-phase current peak value;

[0082] When the rotor position is in an open interval with the B-phase misaligned position and the A-phase aligned position as endpoints, the expected B-phase current peak value > the expected C-phase current peak value > the expected A-phase current peak value;

[0083] When the rotor position is in an open interval with the phase A aligned position and the phase C misaligned position as endpoints, the expected phase C current peak value > the expected phase B current peak value > the expected phase A current peak value;

[0084] When the rotor position is in an open interval with the C-phase misaligned position and the B-phase aligned position as endpoints, the expected C-phase current peak value > the expected A-phase current peak value > the expected B-phase current peak value;

[0085] When the rotor position is in an open interval with the B-phase aligned position and the A-phase misaligned position as endpoints, the expected A-phase current peak value > the expected C-phase current peak value > the expected B-phase current peak value.

[0086] In the embodiment of the present invention, in S3, when the rotor position is in an open interval with the A-phase misaligned position and the C-phase aligned position as endpoints, if the current peak value measured by the original A-phase current sensor> the current peak value measured by the original B-phase current sensor> the current peak value measured by the original C-phase current sensor, then the phase mismatch detection state is 1; if the current peak value measured by the original A-phase current sensor> the current peak value measured by the original C-phase current sensor> the current peak value measured by the original B-phase current sensor, then the phase mismatch detection state is 2; if the current peak value measured by the original C-phase current sensor> the current peak value measured by the original B-phase current sensor> the current peak value measured by the original A-phase current sensor If the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 3; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 4; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 5; if the current peak value measured by the original C-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 6;

[0087] When the rotor position is in the open interval with the C-phase aligned position and the B-phase misaligned position as the endpoints, if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 4; if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 6; if the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original A-phase current sensor The current peak value is , then the phase error detection state is 5; if the current peak value measured by the original B phase current sensor > the current peak value measured by the original A phase current sensor > the current peak value measured by the original C phase current sensor, then the phase error detection state is 1; if the current peak value measured by the original B phase current sensor > the current peak value measured by the original C phase current sensor > the current peak value measured by the original A phase current sensor, then the phase error detection state is 3; if the current peak value measured by the original C phase current sensor > the current peak value measured by the original A phase current sensor > the current peak value measured by the original B phase current sensor, then the phase error detection state is 2;

[0088] When the rotor position is in the open interval with the B-phase misaligned position and the A-phase aligned position as the endpoints, if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 6; if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 4; if the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original A-phase current sensor If the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 2; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 1; if the current peak value measured by the original C-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 5;

[0089] When the rotor position is in an open interval with the A-phase aligned position and the C-phase misaligned position as endpoints, if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 3; if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 5; if the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original A-phase current sensor If the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 1; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 2; if the current peak value measured by the original C-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 4;

[0090] When the rotor position is in the open interval with the C-phase misaligned position and the B-phase aligned position as the endpoints, if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 5; if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 3; if the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original A-phase current sensor If the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 4; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 2; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 6; if the current peak value measured by the original C-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 1;

[0091] When the rotor position is in the open interval with the B-phase aligned position and the A-phase misaligned position as the endpoints, if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 2; if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 1; if the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original A-phase current sensor If the current peak value measured by the original B phase current sensor is greater than the current peak value measured by the original A phase current sensor and greater than the current peak value measured by the original C phase current sensor, the phase mismatch detection state is 6. If the current peak value measured by the original B phase current sensor is greater than the current peak value measured by the original C phase current sensor and greater than the current peak value measured by the original A phase current sensor, the phase mismatch detection state is 5. If the current peak value measured by the original B phase current sensor is greater than the current peak value measured by the original C phase current sensor and greater than the current peak value measured by the original A phase current sensor, the phase mismatch detection state is 4. If the current peak value measured by the original C phase current sensor is greater than the current peak value measured by the original A phase current sensor and greater than the current peak value measured by the original B phase current sensor, the phase mismatch detection state is 3.

[0092] In this embodiment of the present invention, S4 includes the following sub-steps:

[0093] S41, obtaining the current measured by the original A-phase current sensor, the current measured by the original B-phase current sensor, and the current measured by the original C-phase current sensor;

[0094] S42, according to the phase mismatch detection state, the current measured by the original phase A current sensor, the current measured by the original phase B current sensor, and the current measured by the original phase C current sensor, obtain the actual current of phase A, the actual current of phase B, and the actual current of phase C, and enter S43;

[0095] S43, obtain the three-phase given current and enter S44;

[0096] S44, complete phase current control.

[0097] In the embodiment of the present invention, in S42, when the phase error detection state is 1, the actual current of phase A is equal to the current measured by the original phase A current sensor, the actual current of phase B is equal to the current measured by the original phase B current sensor, and the actual current of phase C is equal to the current measured by the original phase C current sensor;

[0098] When the phase error detection state is 2, the actual current of phase A is equal to the current measured by the original phase A current sensor, the actual current of phase B is equal to the current measured by the original phase C current sensor, and the actual current of phase C is equal to the current measured by the original phase B current sensor;

[0099] When the phase error detection state is 3, the actual current of phase A is equal to the current measured by the original phase C current sensor, the actual current of phase B is equal to the current measured by the original phase B current sensor, and the actual current of phase C is equal to the current measured by the original phase A current sensor;

[0100] When the phase error detection state is 4, the actual current of phase A is equal to the current measured by the original phase B current sensor, the actual current of phase B is equal to the current measured by the original phase A current sensor, and the actual current of phase C is equal to the current measured by the original phase C current sensor;

[0101] When the phase error detection state is 5, the actual current of phase A is equal to the current measured by the original phase B current sensor, the actual current of phase B is equal to the current measured by the original phase C current sensor, and the actual current of phase C is equal to the current measured by the original phase A current sensor;

[0102] When the phase error detection state is 6, the actual current of phase A is equal to the current measured by the original phase C current sensor, the actual current of phase B is equal to the current measured by the original phase A current sensor, and the actual current of phase C is equal to the current measured by the original phase B current sensor.

[0103] In this embodiment of the present invention, S44 includes the following sub-steps:

[0104] S441. Determine and temporarily store data to be written into registers related to the main switch drive signal based on the current measured by the original A-phase current sensor, the current measured by the original B-phase current sensor, the current measured by the original C-phase current sensor, and a given current.

[0105] S442. According to the phase error detection state, the temporarily stored data is written into the drive signal related register to complete the phase current control.

[0106] In this embodiment of the present invention, in S442, when the phase error detection state is 1, the data originally used for phase A among the data to be written into the main switch tube drive signal related register is written into the original phase A main switch tube drive signal related register, the data originally used for phase B is written into the original phase B main switch tube drive signal related register, and the data originally used for phase C is written into the original phase C main switch tube drive signal related register.

[0107] When the phase error detection state is 2, the data originally used for phase A among the data that needs to be written into the main switch tube drive signal related register is written into the original phase A main switch tube drive signal related register, the data originally used for phase B is written into the original phase C main switch tube drive signal related register, and the data originally used for phase C is written into the original phase B main switch tube drive signal related register;

[0108] When the phase error detection state is 3, the data originally used for phase A among the data that needs to be written into the main switch tube drive signal related register is written into the original phase C main switch tube drive signal related register, the data originally used for phase B is written into the original phase B main switch tube drive signal related register, and the data originally used for phase C is written into the original phase A main switch tube drive signal related register;

[0109] When the phase error detection state is 4, the data originally used for phase A among the data that needs to be written into the main switch tube drive signal related register is written into the original phase B main switch tube drive signal related register, the data originally used for phase B is written into the original phase A main switch tube drive signal related register, and the data originally used for phase C is written into the original phase C main switch tube drive signal related register;

[0110] When the phase error detection state is 5, the data originally used for phase A among the data that needs to be written into the main switch tube drive signal related register is written into the original phase B main switch tube drive signal related register, the data originally used for phase B is written into the original phase C main switch tube drive signal related register, and the data originally used for phase C is written into the original phase A main switch tube drive signal related register;

[0111] When the phase error detection state is 6, the data originally used for phase A among the data that needs to be written into the main switch tube drive signal related register is written into the original phase C main switch tube drive signal related register, and the data originally used for phase B is written into the original phase A main switch tube drive signal.

[0112] The present invention will be described below with reference to the embodiments.

[0113] The controlled motor is a three-phase 6 / 4-pole switched reluctance motor with an A-phase inductance of L A , B phase inductorL B and C-phase inductance L C The phase relationship is as follows Figure 3 As shown, the power converter is as follows Figure 2 In the asymmetric half-bridge circuit shown, the DC bus voltage is 513V, and D1-D6 are all diodes. The phase error detection and fault tolerance control process used in this embodiment specifically includes the following steps:

[0114] S1: Determine the phase error detection status S pd Is it greater than 0? If not, go to step S2; if yes, go to step S7;

[0115] S2: Determine the rotor position interval and proceed to step S3;

[0116] S3: Apply the same rectangular wave voltage to the three-phase windings and proceed to step S4;

[0117] S4: Get the peak current measured by the original A-phase current sensor i ap , the peak current measured by the original B phase current sensor i bp and the peak current measured by the original C-phase current sensor i cp , proceed to step S5;

[0118] S5: Judgment i ap 、 i bp and i cp Are the absolute values ​​of the differences between the two values ​​greater than the threshold? i δ If yes, go to step S6, if no, go to step S11;

[0119] S6: By adding the current position into the interval i ap 、 i bp and i cp The relationship between the size of the expected three-phase current peak i Ap 、 i Bp and i Cp Compare and determine the size relationship S pd , wrong phase detection is successful;

[0120] S7: Get the current measured by the original A phase current sensor ia , the current measured by the original B phase current sensor i b and the current measured by the original C phase current sensor i c , proceed to step S8;

[0121] S8: According to S pd ,Depend on i a 、 i b and i c Get the actual current of phase A i A , actual current of phase B i B and the actual current of phase C i C , proceed to step S9;

[0122] S9: Obtain three-phase given current and proceed to step S10;

[0123] S10: phase current control;

[0124] S11: Phase mismatch detection fails, and the rotor is rotated to another position for the next phase mismatch detection.

[0125] The phase error detection state before the first execution of step S1 S pd is 0.

[0126] The rotor position interval of step S2 is defined as follows: Figure 3 Phase A misalignment position shown θ uA , C relative alignment position θ aC , B phase misalignment position θ uB 、A relative alignment position θ aA 、C phase misalignment position θ uC Align with B θ aB The rotor position interval obtained by dividing the rotor period is Figure 3 The interval is 1~6.

[0127] The rectangular wave voltage in step S3 satisfies the following conditions: the high and low levels of the voltage are +513 V and -513 V, respectively; the time when the voltage is positive is fixed at 75 μs; and the time when the voltage is negative is fixed at 100 μs.

[0128] The acquisition of the current peak value in step S4 is completed at the moment before the rectangular wave voltage changes from positive to negative.

[0129] The threshold value in step S5 i δ The value is 0.2 A, the threshold i δ The purpose of setting is to avoid incorrect phase mismatch detection due to rotor position and current detection errors when the rotor is near the end points of the rotor position range.

[0130] The expected three-phase current peak value of step S6 i Ap 、 i Bp and i Cp The size relationship is determined by the inductance characteristics of the three-phase switched reluctance motor and is related to the position range of the rotor position. The relationship is as follows: Figure 3 As shown, that is:

[0131] When the rotor position is in the A phase misalignment position θ uA Align with C θ aC When is an open interval with endpoints, i Ap > i Bp > i Cp ;

[0132] When the rotor is aligned with phase C θ aC Misalignment with phase B θ uB When is an open interval with endpoints, i Bp > i Ap > i Cp ;

[0133] When the rotor position is in the B phase misalignment position θ uB Aligned with A θ aA When is an open interval with endpoints, i Bp > i Cp > i Ap ;

[0134] When the rotor is aligned with phase A θ aA Misalignment with phase C θ uC When is an open interval with endpoints, i Cp > i Bp > i Ap ;

[0135] When the rotor position is in the C phase misalignment position θ uC Align with B θ aB When is an open interval with endpoints, i Cp > i Ap > i Bp ;

[0136] When the rotor is aligned with phase B θ aB Misaligned with phase A θ uA When is an open interval with endpoints, i Ap > i Cp > i Bp .

[0137] Step S6 i ap 、 i bp and i cp The size of is related to the winding connection, and the relationship is as follows:

[0138] When the three-phase windings are connected correctly, the size relationship is as follows Figure 3 As shown;

[0139] When phase A is connected correctly and phases B and C are connected in reverse, the magnitude relationship is as follows Figure 4 As shown;

[0140] When phase B is connected correctly and phases A and C are connected in reverse, the magnitude relationship is as follows Figure 5 As shown;

[0141] When phase C is connected correctly and phases A and B are connected in reverse, the magnitude relationship is as follows Figure 6 As shown;

[0142] When the A-phase winding is connected to the terminals on the power converter that were originally used to connect the B-phase winding (such as Figure 2 b1 and b2 in the figure), the B-phase winding is connected to the terminals originally used to connect the C-phase winding (such as Figure 2and the C-phase winding is connected to the terminals originally used to connect the A-phase winding (e.g. Figure 2 When a1 and a2 in the figure are Figure 7 As shown;

[0143] When the A-phase winding is connected to the terminal on the power converter originally used to connect the C-phase winding (such as Figure 2 The B-phase winding is connected to the terminals originally used to connect the A-phase winding (such as c1 and c2 in Figure 1). Figure 2 a1 and a2 in the figure) and the C-phase winding is connected to the terminals originally used to connect the B-phase winding (such as Figure 2 b1 and b2 in the above equations), the relationship is as follows: Figure 8 shown.

[0144] Step S6 determines S pd The specific principles are as follows:

[0145] When the rotor position is in the A phase misalignment position θ uA Align with C θ aC For an open interval with endpoints, if i ap > i bp > i cp but S pd =1, if i ap > i cp > i bp but S pd =2, if i cp > i bp > i ap but S pd =3, if i bp > i ap > i cp but S pd =4, if i bp > i cp > i ap but S pd =5, ifi cp > i ap > i bp but S pd =6;

[0146] When the rotor is aligned with phase C θ aC Misalignment with phase B θ uB For an open interval with endpoints, if i ap > i bp > i cp but S pd =4, if i ap > i cp > i bp but S pd =6, if i cp > i bp > i ap but S pd =5, if i bp > i ap > i cp but S pd =1, if i bp > i cp > i ap but S pd =3, if i cp > i ap > i bp but S pd =2;

[0147] When the rotor position is in the B phase misalignment position θ uB Aligned with A θ aA For an open interval with endpoints, ifi ap > i bp > i cp but S pd =6, if i ap > i cp > i bp but S pd =4, if i cp > i bp > i ap but S pd =2, if i bp > i ap > i cp but S pd =3, if i bp > i cp > i ap but S pd =1, if i cp > i ap > i bp but S pd =5;

[0148] When the rotor is aligned with phase A θ aA Misalignment with phase C θ uC For an open interval with endpoints, if i ap > i bp > i cp but S pd =3, if i ap > i cp > i bp but S pd =5, ifi cp > i bp > i ap but S pd =1, if i bp > i ap > i cp but S pd =6, if i bp > i cp > i ap but S pd =2, if i cp > i ap > i bp but S pd =4;

[0149] When the rotor position is in the C phase misalignment position θ uC Align with B θ aB For an open interval with endpoints, if i ap > i bp > i cp but S pd =5, if i ap > i cp > i bp but S pd =3, if i cp > i bp > i ap but S pd =4, if i bp > i ap > i cp but S pd =2, ifi bp > i cp > i ap but S pd =6, if i cp > i ap > i bp but S pd =1;

[0150] When the rotor is aligned with phase B θ aB Misaligned with phase A θ uA For an open interval with endpoints, if i ap > i bp > i cp but S pd =2, if i ap > i cp > i bp but S pd =1, if i cp > i bp > i ap but S pd =6, if i bp > i ap > i cp but S pd =5, if i bp > i cp > i ap but S pd =4, if i cp > i ap > i bp but S pd =3.

[0151] The specific principles for obtaining the actual current in step S8 are as follows:

[0152] When the phase error detection state S pd When 1, i A = i a , i B = i b , i C = i c ;

[0153] When the phase error detection state S pd When it is 2, i A = i a , i B = i c , i C = i b ;

[0154] When the phase error detection state S pd It is 3 o'clock, i A = i c , i B = i b , i C = i a ;

[0155] When the phase error detection state S pd It is 4 o'clock, i A = i b , i B = i a , i C = i c ;

[0156] When the phase error detection state S pdIt is 5 o'clock, i A = i b , i B = i c , i C = i a ;

[0157] When the phase error detection state S pd It is 6 o'clock, i A = i c , i B = i a , i C = i b .

[0158] In step S9, the three-phase given currents are all constant at 30 A in their respective conduction regions, and the conduction region of each phase is the region from the misaligned position of the phase to the aligned position of the phase.

[0159] In step S10, the phase current control is hysteresis control with a control period of 25 μs and a hysteresis width of 1 A.

[0160] Step S10: Phase current control is divided into the following two steps:

[0161] The first step is to determine and temporarily store the data that needs to be written into the main switch tube drive signal related register based on the given current and actual current; the second step is to determine and temporarily store the data that needs to be written into the main switch tube drive signal related register based on the phase error detection state. S pd , write the temporarily stored data into the drive signal related register.

[0162] The specific principles for writing the temporarily stored data into the drive signal related registers in the second step of phase current control are as follows:

[0163] When the phase error detection state S pd When it is 1, the data originally used for phase A in the data register related to the main switch drive signal that needs to be written into the original phase A main switch (such as Figure 2 S1 and S2 in the drive signal related register, write the original data for phase B into the original phase B main switch tube (such as Figure 2 S3 and S4 in the drive signal related register, write the original data used for phase C into the original phase C main switch tube (such as Figure 2 S5 and S6 in the drive signal related registers;

[0164] When the phase error detection state S pd When it is 2, the data originally used for phase A in the data register related to the main switch drive signal that needs to be written into the original phase A main switch (such as Figure 2 S1 and S2 in the drive signal related register, write the original data used for phase B into the original phase C main switch tube (such as Figure 2 S5 and S6 in the drive signal related register, write the original data used for phase C into the original phase B main switch tube (such as Figure 2 S3 and S4 in the drive signal related registers;

[0165] When the phase error detection state S pd When the value is 3, the data originally used for phase A in the data register related to the main switch drive signal is written into the original phase C main switch (such as Figure 2 S5 and S6 in the drive signal related register, write the original data used for phase B into the original phase B main switch tube (such as Figure 2 S3 and S4 in the drive signal related register, write the original data for phase C into the original phase A main switch tube (such as Figure 2 S1 and S2 in the drive signal related registers;

[0166] When the phase error detection state S pd When the value is 4, the data originally used for phase A in the data register related to the main switch drive signal is written into the original phase B main switch (such as Figure 2 S3 and S4 in the drive signal related register, write the original data used for phase B into the original phase A main switch tube (such as Figure 2 S1 and S2 in the drive signal related register, write the original data for phase C into the original phase C main switch tube (such as Figure 2 S5 and S6 in the drive signal related registers;

[0167] When the phase error detection state S pd When the value is 5, the data originally used for phase A in the data register related to the main switch drive signal is written into the original phase B main switch (such as Figure 2 S3 and S4 in the drive signal related register, write the original data used for phase B into the original phase C main switch tube (such as Figure 2 S5 and S6 in the drive signal related register, write the original data for phase C into the original phase A main switch tube (such as Figure 2 S1 and S2 in the drive signal related registers;

[0168] When the phase error detection state Spd When the value is 6, the data originally used for phase A in the data register related to the main switch drive signal is written into the original phase C main switch (such as Figure 2 S5 and S6 in the drive signal related register, write the original data for phase B into the original phase A main switch tube (such as Figure 2 S1 and S2 in the drive signal related register, write the original data for phase C into the original phase B main switch tube (such as Figure 2 S3 and S4 in the drive signal related registers.

[0169] Based on the above steps and settings, a simulation model was built in the MATLAB / SIMULINK environment and the initial position was as follows Figure 3 The simulation verification was carried out in the interval 1 shown in the figure with phase B and phase C connected in reverse. The three-phase torque, three-phase current, current measured by the three-phase current sensors and the phase mismatch detection status were obtained by simulation. S pd The waveform is as Figure 9 shown. Figure 10 Will Figure 9 The waveforms of the three-phase current, the current measured by the three phase sensors, and the phase error detection status are magnified and displayed to show their specific waveform changes.

[0170] As can be seen from the figure, before the normal starting of the motor, the injected three-phase current peak i Ap 、 i Bp and i Cp The size relationship is i Ap > i Bp > i Cp , the magnitude relationship of the current peak measured by the current sensor is i ap > i cp > i bp , phase error detection status S pd The initial value 0 changes to 2, indicating that the phase error detection is correct. The three-phase torque is all positive, so each phase winding is conducting within the set conduction range, and the motor control is normal.

[0171] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and it should be understood that the scope of protection of the present invention is not limited to such specific descriptions and embodiments. Those skilled in the art can make various other specific variations and combinations based on the technical teachings disclosed in the present invention without departing from the essence of the present invention, and such variations and combinations are still within the scope of protection of the present invention.

Claims

1. A three-phase switched reluctance motor phase error detection and fault-tolerant control method, characterized in that: The following steps are involved: S1: Determine whether the phase error detection status of the three-phase switched reluctance motor is greater than 0. If not, proceed to S2; if yes, proceed to S4. The phase error detection status is 0 before the first execution of S1. S2. Obtain the current peak value measured by the original A-phase current sensor, the current peak value measured by the original B-phase current sensor, and the current peak value measured by the original C-phase current sensor, and determine whether the original three-phase current peak values ​​meet the threshold conditions. If so, proceed to S3; otherwise, proceed to S5. S3. Determine the phase mismatch detection state based on the current peak value measured by the original A-phase current sensor, the current peak value measured by the original B-phase current sensor, the current peak value measured by the original C-phase current sensor, and the expected A-phase current peak value, the expected B-phase current peak value, and the expected C-phase current peak value, and complete the phase mismatch detection; S4. Obtain the current measured by the original A-phase current sensor, the current measured by the original B-phase current sensor, and the current measured by the original C-phase current sensor to complete phase current control; S5, determining that the phase mismatch detection has failed, rotating the rotor to another position, and performing the next phase mismatch detection; The S4 includes the following sub-steps: S41, obtaining the current measured by the original A-phase current sensor, the current measured by the original B-phase current sensor, and the current measured by the original C-phase current sensor; S42, according to the phase mismatch detection state, the current measured by the original phase A current sensor, the current measured by the original phase B current sensor, and the current measured by the original phase C current sensor, obtain the actual current of phase A, the actual current of phase B, and the actual current of phase C, and enter S43; S43, obtain the three-phase given current and enter S44; S44, completing phase current control; In S42, when the phase error detection state is 1, the actual current of phase A is equal to the current measured by the original phase A current sensor, the actual current of phase B is equal to the current measured by the original phase B current sensor, and the actual current of phase C is equal to the current measured by the original phase C current sensor; When the phase error detection state is 2, the actual current of phase A is equal to the current measured by the original phase A current sensor, the actual current of phase B is equal to the current measured by the original phase C current sensor, and the actual current of phase C is equal to the current measured by the original phase B current sensor; When the phase error detection state is 3, the actual current of phase A is equal to the current measured by the original phase C current sensor, the actual current of phase B is equal to the current measured by the original phase B current sensor, and the actual current of phase C is equal to the current measured by the original phase A current sensor; When the phase error detection state is 4, the actual current of phase A is equal to the current measured by the original phase B current sensor, the actual current of phase B is equal to the current measured by the original phase A current sensor, and the actual current of phase C is equal to the current measured by the original phase C current sensor; When the phase error detection state is 5, the actual current of phase A is equal to the current measured by the original phase B current sensor, the actual current of phase B is equal to the current measured by the original phase C current sensor, and the actual current of phase C is equal to the current measured by the original phase A current sensor; When the phase error detection state is 6, the actual current of phase A is equal to the current measured by the original phase C current sensor, the actual current of phase B is equal to the current measured by the original phase A current sensor, and the actual current of phase C is equal to the current measured by the original phase B current sensor.

2. The three-phase switched reluctance motor phase error detection and fault-tolerant control method according to claim 1, characterized in that: The S2 includes the following sub-steps: S21, determine the rotor position interval and enter S22; S22, apply the same rectangular wave voltage to the three-phase windings, and enter S23; S23, obtaining the current peak value measured by the original A-phase current sensor, the current peak value measured by the original B-phase current sensor, and the current peak value measured by the original C-phase current sensor; S24. Determine whether the absolute value of the difference between the current peak value measured by the original A-phase current sensor and the current peak value measured by the original B-phase current sensor, the absolute value of the difference between the current peak value measured by the original B-phase current sensor and the current peak value measured by the original C-phase current sensor, and the absolute value of the difference between the current peak value measured by the original A-phase current sensor and the current peak value measured by the original C-phase current sensor are all greater than the set threshold value. If so, enter S3; otherwise, enter S5.

3. The three-phase switched reluctance motor phase error detection and fault-tolerant control method according to claim 2, characterized in that: In S21, the rotor period is divided by the A-phase misalignment position, the C-phase alignment position, the B-phase misalignment position, the A-phase alignment position, the C-phase misalignment position, and the B-phase alignment position to obtain the rotor position interval.

4. The three-phase switched reluctance motor phase error detection and fault-tolerant control method according to claim 2, characterized in that: In said S22, the high level and the low level of the rectangular wave voltage are respectively the positive DC bus voltage and the negative DC bus voltage; The duration of the rectangular wave voltage being positive is fixed, and the current peak value when the rectangular wave voltage changes from positive to negative is less than or equal to the critical saturation current value; The time duration during which the voltage of the rectangular wave voltage is negative is fixed, and the current drops to zero before the voltage of the rectangular wave voltage changes from negative to positive.

5. The three-phase switched reluctance motor phase error detection and fault-tolerant control method according to claim 1, characterized in that: In S3, when the rotor position is in an open interval with the A-phase misaligned position and the C-phase aligned position as endpoints, the expected A-phase current peak value>the expected B-phase current peak value>the expected C-phase current peak value; When the rotor position is in an open interval with the C-phase aligned position and the B-phase misaligned position as endpoints, the expected B-phase current peak value > the expected A-phase current peak value > the expected C-phase current peak value; When the rotor position is in an open interval with the B-phase misaligned position and the A-phase aligned position as endpoints, the expected B-phase current peak value > the expected C-phase current peak value > the expected A-phase current peak value; When the rotor position is in an open interval with the phase A aligned position and the phase C misaligned position as endpoints, the expected phase C current peak value > the expected phase B current peak value > the expected phase A current peak value; When the rotor position is in an open interval with the C-phase misaligned position and the B-phase aligned position as endpoints, the expected C-phase current peak value > the expected A-phase current peak value > the expected B-phase current peak value; When the rotor position is in an open interval with the B-phase aligned position and the A-phase misaligned position as endpoints, the expected A-phase current peak value > the expected C-phase current peak value > the expected B-phase current peak value.

6. The three-phase switched reluctance motor phase error detection and fault-tolerant control method according to claim 1, characterized in that: In said S3, when the rotor position is in an open interval with the A-phase misaligned position and the C-phase aligned position as endpoints, if the current peak value measured by the original A-phase current sensor> the current peak value measured by the original B-phase current sensor> the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 1; if the current peak value measured by the original A-phase current sensor> the current peak value measured by the original C-phase current sensor> the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 2; if the current peak value measured by the original C-phase current sensor> the current peak value measured by the original B-phase current sensor> the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 3; If the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 3; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 4; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 5; if the current peak value measured by the original C-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 6; When the rotor position is in an open interval with the C-phase aligned position and the B-phase misaligned position as endpoints, if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 4; if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 6; if the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original A-phase current sensor If the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 5; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 1; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 3; if the current peak value measured by the original C-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 2; When the rotor position is in an open interval with the B-phase misaligned position and the A-phase aligned position as endpoints, if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 6; if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 4; if the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original A-phase current sensor If the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 2; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 3; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 1; if the current peak value measured by the original C-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 5; When the rotor position is in an open interval with the A-phase aligned position and the C-phase misaligned position as endpoints, if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 3; if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 5; if the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original A-phase current sensor If the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 1; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 6; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 2; if the current peak value measured by the original C-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 4; When the rotor position is in the open interval with the C-phase misaligned position and the B-phase aligned position as endpoints, if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 5; if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 3; if the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original A-phase current sensor If the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 4; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 2; if the current peak value measured by the original B-phase current sensor is greater than the current peak value measured by the original C-phase current sensor and greater than the current peak value measured by the original A-phase current sensor, the phase mismatch detection state is 6; if the current peak value measured by the original C-phase current sensor is greater than the current peak value measured by the original A-phase current sensor and greater than the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 1; When the rotor position is in an open interval with the B-phase aligned position and the A-phase misaligned position as endpoints, if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original C-phase current sensor, the phase mismatch detection state is 2; if the current peak value measured by the original A-phase current sensor > the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor, the phase mismatch detection state is 1; if the current peak value measured by the original C-phase current sensor > the current peak value measured by the original B-phase current sensor > the current peak value measured by the original A-phase current sensor If the current peak value measured by the original B phase current sensor is greater than the current peak value measured by the original A phase current sensor and greater than the current peak value measured by the original C phase current sensor, the phase mismatch detection state is 6; if the current peak value measured by the original B phase current sensor is greater than the current peak value measured by the original C phase current sensor and greater than the current peak value measured by the original A phase current sensor, the phase mismatch detection state is 5; if the current peak value measured by the original B phase current sensor is greater than the current peak value measured by the original C phase current sensor and greater than the current peak value measured by the original A phase current sensor, the phase mismatch detection state is 4; if the current peak value measured by the original C phase current sensor is greater than the current peak value measured by the original A phase current sensor and greater than the current peak value measured by the original B phase current sensor, the phase mismatch detection state is 3.

7. The three-phase switched reluctance motor phase error detection and fault-tolerant control method according to claim 1, characterized in that: The S44 includes the following sub-steps: S441. Determine and temporarily store data to be written into registers related to the main switch drive signal based on the current measured by the original A-phase current sensor, the current measured by the original B-phase current sensor, the current measured by the original C-phase current sensor, and a given current. S442. According to the phase error detection state, the temporarily stored data is written into the drive signal related register to complete the phase current control.

8. The three-phase switched reluctance motor phase error detection and fault-tolerant control method according to claim 7, characterized in that: In S442, when the phase error detection state is 1, the data originally used for phase A among the data to be written into the main switch tube drive signal related register is written into the original phase A main switch tube drive signal related register, the data originally used for phase B is written into the original phase B main switch tube drive signal related register, and the data originally used for phase C is written into the original phase C main switch tube drive signal related register; When the phase error detection state is 2, the data originally used for phase A among the data that needs to be written into the main switch tube drive signal related register is written into the original phase A main switch tube drive signal related register, the data originally used for phase B is written into the original phase C main switch tube drive signal related register, and the data originally used for phase C is written into the original phase B main switch tube drive signal related register; When the phase error detection state is 3, the data originally used for phase A among the data that needs to be written into the main switch tube drive signal related register is written into the original phase C main switch tube drive signal related register, the data originally used for phase B is written into the original phase B main switch tube drive signal related register, and the data originally used for phase C is written into the original phase A main switch tube drive signal related register; When the phase error detection state is 4, the data originally used for phase A among the data that needs to be written into the main switch tube drive signal related register is written into the original phase B main switch tube drive signal related register, the data originally used for phase B is written into the original phase A main switch tube drive signal related register, and the data originally used for phase C is written into the original phase C main switch tube drive signal related register; When the phase error detection state is 5, the data originally used for phase A among the data that needs to be written into the main switch tube drive signal related register is written into the original phase B main switch tube drive signal related register, the data originally used for phase B is written into the original phase C main switch tube drive signal related register, and the data originally used for phase C is written into the original phase A main switch tube drive signal related register; When the phase error detection state is 6, the data originally used for phase A among the data that needs to be written into the main switch tube drive signal related register is written into the original C phase main switch tube drive signal related register, the data originally used for phase B is written into the original A phase main switch tube drive signal related register, and the data originally used for phase C is written into the original B phase main switch tube drive signal related register.

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