A multi-phase motor communication-free redundancy control system and control method

Abstract

The application discloses a multi-phase motor communication-free redundancy control system and a control method, which comprises a rotating speed controller, a reference current selection module, a plurality of inner loop current controllers and a plurality of modulation and driving modules. The rotating speed controller receives a given reference rotating speed of a motor and an actual rotating speed of each set of windings, and outputs a q-axis reference current in a dq rotating coordinate system. The reference current selection module receives the q-axis reference current, specifies a master winding and a slave winding in the plurality of windings, and outputs a d-axis and q-axis reference current of each redundancy. The inner loop current controller is connected with the reference current selection module, receives the d-axis and q-axis reference current of the corresponding winding and a feedback current thereof, and outputs corresponding d-axis and q-axis reference voltage. The plurality of modulation and driving modules drive and control each winding. The application realizes communication-free control through master-slave following of the windings, can avoid the problem of collaborative failure caused by communication failure, and thus improves the steady-state performance of the motor.

Description

Technical Field

[0001] This invention belongs to the field of multiphase motor drive control technology, and particularly relates to a multiphase motor non-communication dual-redundancy control system and method. Background Technology

[0002] Multiphase motors have gained widespread attention due to their advantages over traditional three-phase motors, including higher power density, lower torque ripple, and better fault tolerance. Among multiphase motors, those with multiple sets of symmetrical three-phase windings, such as dual three-phase motors, have significant application potential due to their ability to suppress zero-sequence current. Traditional multiphase motor control systems typically employ a centralized control framework, with a single driver operating the motor. This control approach carries a significant risk of single-point failure; in the event of a failure, the entire drive system is prone to complete failure. Therefore, redundant control technologies are commonly used in safety-critical fields such as aerospace and electric vehicles.

[0003] Traditional dual-redundant control technology for three-phase motors splits the motor into two sets of three-phase motor control, each driven by an independent driver. Real-time communication is required for coordination between the two windings. However, in safety-critical fields such as aerospace and electric vehicles, this communication link may be interrupted due to electromagnetic interference or hardware failure, causing the dual-redundant system to fail to work collaboratively, leading to torque pulsation and ultimately system failure.

[0004] The patent with publication number CN114826073A discloses a current balancing control method for a dual-redundant permanent magnet synchronous motor control system. It adopts a cooperative balancing control method, in which both controllers are constantly adjusting to track each other. During the dynamic process, there may be mutual interference or oscillation, and the control algorithm is relatively complex. Summary of the Invention

[0005] The purpose of this invention is to solve the problem of communication failure in existing multiphase motor redundancy control strategies. This invention provides a multiphase motor dual-redundancy control system and method without communication, which does not require a communication module, has a simple algorithm, and high reliability.

[0006] To achieve the above objectives, the present invention discloses a multiphase motor non-communication redundancy control system, wherein the multiphase windings of the multiphase motor are divided into multiple electrically independent windings, and each winding constitutes a control redundancy; the system includes: a speed controller, a reference current selection module, multiple inner loop current controllers, and multiple modulation and drive modules.

[0007] The speed controller is configured to receive a given reference speed of the motor and the actual speed of each winding, and output a q-axis reference current in the dq rotating coordinate system.

[0008] The reference current selection module is connected to the speed controller and receives the q-axis reference current. The reference current selection module specifies the master winding and slave winding among multiple sets of windings according to the host computer information, and outputs the d-axis and q-axis reference currents for each redundancy, as well as the circuit breaker signal for system reconfiguration. The reference current of the master winding is set based on the q-axis reference current, and the d-axis and q-axis reference currents of the slave winding are generated by coordinate transformation based on the actual current of the master winding and the rotor position of the slave winding, so as to realize master-slave following control without communication.

[0009] Multiple inner-loop current controllers are connected to the reference current selection module. Each inner-loop current controller is configured to receive the d-axis and q-axis reference currents and their feedback currents for the corresponding winding, and output the corresponding d-axis and q-axis reference voltages. Multiple modulation and drive modules are configured to generate multiplexed switching signals based on the d-axis and q-axis reference voltages of all windings and the rotor position to drive and control each winding.

[0010] Preferably, the system includes multiple current sensors that sample the three-phase current of each winding and convert it into the feedback current required by the inner loop current controller.

[0011] Furthermore, the system includes a rotary transformer that collects the actual rotational speed of each winding and outputs it to a speed controller.

[0012] The modulation and drive module includes a sinusoidal pulse width modulation module and an inverter. The sinusoidal pulse width modulation module is connected to the inner loop current controller, inputs the reference voltage for each redundancy and the rotor position for each winding, and generates a switching signal to drive the inverter. The inverter is connected to the output of the sinusoidal pulse width modulation module and drives the multiphase motor according to the switching signal.

[0013] Preferably, the inverter is a voltage source inverter.

[0014] In one embodiment, the multiphase motor is a dual three-phase motor, which is divided into two sets of windings, one of which is designated as the master winding and the other as the slave winding.

[0015] This invention also discloses a multiphase motor non-communication redundancy control method, which employs the above-mentioned multiphase motor non-communication redundancy control system and includes the following steps:

[0016] S1, Generate reference currents for each redundancy level.

[0017] The speed controller calculates and outputs the q-axis reference current in the dq rotating coordinate system based on the difference between the given reference speed and the actual speed of the motor. The reference current selection module specifies a master winding and at least one slave winding based on information from the host computer. The q-axis reference current is allocated to the master winding as its q-axis reference current, and its d-axis reference current is set. The slave winding follows the master winding. Based on the actual three-phase current of the master winding and the rotor position of the slave winding, the d-axis and q-axis reference currents of the slave winding are synchronously generated through coordinate transformation, so that the slave winding produces a rotating magnetic field that is completely synchronized and in phase with the master winding.

[0018] S2, Obtain the feedback current of each redundancy level.

[0019] The three-phase current of each winding is sampled using a current sensor. The three-phase current of each winding is then subjected to Clark-Park transformation with its own rotor position to obtain the d-axis feedback current and q-axis feedback current of each winding.

[0020] S3, Generate reference voltage

[0021] The inner loop current controller calculates the current error based on the d-axis and q-axis reference currents of each redundancy and their corresponding d-axis and q-axis feedback currents, and generates the d-axis and q-axis reference voltages for each winding.

[0022] S4, drive motor

[0023] The d-axis and q-axis reference voltages of each winding are combined with the rotor position to perform Clark-Park transformation, and the corresponding voltage is applied to the motor terminals through the modulation and drive module to control the motor operation.

[0024] Furthermore, when the main winding fails, the host computer sends a main winding switching command, and the reference current selection module switches the current main winding according to the command.

[0025] Preferably, the specific steps for the slave winding to follow the master winding and synchronously obtain the d-axis reference current and q-axis reference current of the slave winding include:

[0026] (1) The three-phase current of the main winding is measured through its current sensor. The current components iα and iβ of the main winding in the two-phase stationary coordinate system are obtained by Clark transformation.

[0027] (2). Using the rotor position angle of the slave winding, the current components iα and iβ of the main winding obtained in step (1) are transformed by Park, and the current components of the d-axis and q-axis in the rotating coordinate system of the slave winding are obtained synchronously as the d-axis reference current and q-axis reference current of the slave winding, respectively.

[0028] Based on the above solution, the present invention has the following beneficial effects:

[0029] 1. This invention can avoid the problem of cooperative failure caused by communication failure in traditional redundant control, thereby improving the steady-state performance of dual three-phase motors.

[0030] 2. This invention replicates the actual magnetic field of the main winding, generating a highly synchronized and in-phase magnetic field from the winding. This "magnetic field synchronization" ensures a more perfect superposition of the two magnetic field vectors than simple "current balancing," potentially resulting in a smoother composite torque and lower torque ripple. This has potential advantages in applications requiring extremely high torque stability (such as precision machining and aerospace control surfaces).

[0031] 3. In this invention, the master winding is responsible for responding to dynamic commands, while the slave winding is only responsible for precise following. This avoids the potential problem of two redundancies competing for control, resulting in a clearer dynamic response and a simpler algorithm.

[0032] 4. In this invention, the master and slave roles are designated by the upper-level system management unit. In the event of a specific fault (such as failure of the main winding), a strategic switch can be performed, making the fault tolerance logic more flexible. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the Clark-Park transform of the present invention.

[0034] Figure 2 This is a schematic diagram of the principle of the present invention.

[0035] Figure 3 This is a schematic diagram of an embodiment using a dual three-phase motor with two windings. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0037] This invention discloses a communication-free redundancy control system for a multiphase motor. The multiphase windings of the multiphase motor are divided into multiple electrically independent winding sets, each winding set constituting a control redundancy. The control system and method of this invention employ AC motor vector control. The system includes: a speed controller, a reference current selection module, multiple inner-loop current controllers, and multiple modulation and drive modules.

[0038] The speed controller is configured to receive a given reference speed of the motor and the actual speed of each winding, and output a q-axis reference current in the dq rotating coordinate system. In this embodiment, the actual speed of each winding is acquired through a rotary transformer. Of course, in other embodiments, the actual speed of the winding can also be obtained by detection using methods such as photoelectric encoders or Hall effect sensors.

[0039] The reference current selection module is connected to the speed controller and receives the q-axis reference current. Based on information from the host computer, the reference current selection module specifies the master and slave windings among multiple winding sets and outputs the d-axis and q-axis reference currents for each redundancy, as well as the circuit breaker signal for system reconfiguration. The host computer is a functional concept, implemented by different physical entities in different systems: for example, in electric vehicles, the host computer can be the vehicle's controller; in aircraft, it can be the flight control computer; and in integrated systems, the host computer can also be a high-priority software task within the motor's main control chip, sending instructions to the "reference current selection module" running within the chip.

[0040] In this invention, the d-axis and q-axis reference currents for each redundancy are generated by: setting the reference current of the main winding to be based on the q-axis reference current, and generating the d-axis and q-axis reference currents of the slave winding through coordinate transformation based on the actual current of the main winding and the rotor position of the slave winding, thereby achieving master-slave following control without communication. Through such master-slave following control, the slave winding generates a rotating magnetic field that is completely synchronized and in phase with the main winding.

[0041] Multiple inner-loop current controllers are connected to a reference current selection module. Each inner-loop current controller is configured to receive the d-axis and q-axis reference currents and their feedback currents for the corresponding winding, and output the corresponding d-axis and q-axis reference voltages. The inner-loop current controller can be a PI controller. The proportional element of the PI controller provides a fast response, while the integral element eliminates steady-state errors, ultimately ensuring that the actual feedback current accurately tracks the reference current. In other embodiments, the inner-loop current controller can also be a PID controller, a sliding mode controller, etc. The feedback current is acquired through multiple current sensors. The current sensors sample the three-phase current of each winding and convert it into the feedback current required by the inner-loop current controller. In other embodiments, the feedback current can also be obtained through sampling resistor circuits, magnetic sensing elements (such as indirectly measuring current by detecting the magnetic field generated around a conductor), or other methods.

[0042] Multiple modulation and drive modules are configured to generate multiplexed switching signals based on the d-axis and q-axis reference voltages of all windings and the rotor position, to drive and control each winding. The d-axis and q-axis reference voltages are commands controlling the motor torque and magnetic field in the dq rotating coordinate system.

[0043] In this embodiment, the modulation and drive module includes a sinusoidal pulse width modulation (SPWM) module and an inverter. The inverter is a voltage source inverter. The SPWM module is connected to the inner loop current controller, inputs the reference voltage for each redundancy and the rotor position for each winding, and generates switching signals to drive the inverter. The inverter is connected to the output of the SPWM module and drives each winding of the multiphase motor according to the switching signals. Specifically: the d-axis reference voltage and q-axis reference voltage are processed by Clark-Park conversion and the SPWM module to generate multiple PWM switching signals. The power switches in the voltage source inverter are turned on or off under the drive of the PWM switching signals, thereby outputting a controlled three-phase frequency converter voltage to the motor windings and generating the desired sinusoidal current in the windings. This sinusoidal current interacts with the rotor permanent magnetic field, ultimately generating a continuous and stable torque to drive the motor to rotate.

[0044] This invention also discloses a multiphase motor non-communication redundancy control method. The multiphase motor non-communication redundancy control system of this invention includes the following steps:

[0045] S1, Generate reference currents for each redundancy level.

[0046] The speed controller calculates and outputs the q-axis reference current in the dq rotating coordinate system based on the difference between the given reference speed and the actual speed of the motor.

[0047] The reference current selection module specifies a master winding and at least one slave winding based on information from the host computer. The q-axis reference current is allocated to the master winding as its q-axis reference current, and its d-axis reference current is set. The slave winding follows the master winding. Based on the actual three-phase current of the master winding and the rotor position of the slave winding, the d-axis and q-axis reference currents of the slave winding are synchronously generated through coordinate transformation, so that the slave winding produces a rotating magnetic field that is completely synchronized and in phase with the master winding.

[0048] like Figure 1 The specific steps for the slave winding to synchronously obtain the d-axis reference current and q-axis reference current, following the master winding, include:

[0049] (1) The three-phase current of the main winding is measured through its current sensor. The current components iα and iβ of the main winding in the two-phase stationary coordinate system are obtained by Clark transformation.

[0050] (2). Using the rotor position angle θr2 of the slave winding, the current components iα and iβ of the main winding obtained in step (1) are transformed by Park, and the current components of the d-axis and q-axis in the rotating coordinate system of the slave winding are obtained synchronously as the d-axis reference current and q-axis reference current of the slave winding, respectively.

[0051] q-axis reference current of the main winding and the q-axis reference current from the winding The calculation formula is as follows:

[0052]

[0053] In the formula, K p For proportional gain, K i For integral gain, oh * r Given a reference speed, oh r The actual rotational speed of the main winding. This is the cumulative sum of errors;

[0054]

[0055] In the formula, i 主1 i 主2 i 主3 These are the three-phase currents of the main winding, respectively. The rotor position angle is from the winding.

[0056] S2, Obtain the feedback current of each redundancy level.

[0057] The three-phase current of each winding is sampled by a current sensor. The three-phase current of each winding is then subjected to Clark-Park transformation with its own rotor position to obtain the d-axis feedback current and q-axis feedback current of each winding.

[0058] q-axis feedback current i of the main winding 主 and the q-axis feedback current i from the winding 从 The calculation formula is as follows:

[0059]

[0060]

[0061] d-axis feedback current i of the main winding d主 and the d-axis feedback current i from the winding d从 The calculation formula is as follows:

[0062]

[0063]

[0064] In the formula, i 主1 i 主2 i 主3 These are the three-phase currents of the main winding, i 从1 i从2 i 从3 These are the three-phase currents from the winding, The rotor position angle of the main winding (i.e., the rotor electrical angle of the main winding). It is the rotor position angle from the winding (i.e., the rotor electrical angle from the winding).

[0065] S3, Generate reference voltage

[0066] like Figure 2 As shown, the inner loop current controller calculates the current error based on the d-axis and q-axis reference currents of each redundancy and their corresponding d-axis and q-axis feedback currents, and generates the d-axis reference voltage and q-axis reference voltage for each winding.

[0067] S4, drive motor

[0068] The d-axis and q-axis reference voltages of each winding are combined with the rotor position to perform Clark-Park transformation, and the corresponding voltage is applied to the motor terminals through the modulation and drive module to control the motor operation.

[0069] When a fault occurs in the main winding, the host computer sends a command to switch the main winding, and the reference current selection module switches the current main winding according to the command.

[0070] like Figure 3 As shown, to provide a detailed explanation of the control system and method of the present invention, a dual three-phase motor is used as an example to illustrate the above steps of the present invention. The dual three-phase motor is split into two sets of windings, namely the ABC winding and the DEF winding. The components of each set of three-phase windings are transformed to an independent αβ stationary coordinate system, and then the components in the stationary coordinate system are transformed to the dq rotating coordinate system oriented by the rotor magnetic field. Ignoring the coupling between the two sets of windings, the mathematical model of the rotating coordinate system of each set of windings can be simplified to the following formula:

[0071]

[0072]

[0073]

[0074]

[0075] In the formula, ψ s1 This refers to the stator flux linkage in the ABC winding. ψ s2 For the stator flux linkage in the DEF winding, ψ d1 Let be the d-axis flux linkage in the ABC winding. ψ d2The d-axis flux linkage in the DEF winding. ψ r This represents the flux linkage amplitude generated by the permanent magnet in each phase winding. ψ q1 Let be the q-axis flux linkage in the ABC winding. ψ q2 represents the q-axis flux linkage in the DEF winding.

[0076] u d1 Let u be the d-axis voltage of the ABC winding. d2 u is the d-axis voltage of the DEF winding. q1 Let u be the q-axis voltage of the ABC winding. q2 R is the q-axis voltage of the DEF winding. S Let ω be the resistance coefficient matrix, and ω be the synchronous electric angular frequency.

[0077] s1 It is the angle between the stator flux linkage corresponding to the ABC winding and the A-axis (the A-axis of the stator stationary coordinate system is the axis whose direction coincides with the axis of the stator A-phase winding). s2 The angle between the stator flux linkage corresponding to the DEF winding and the D-axis (the D-axis of the stator stationary coordinate system is the axis whose direction coincides with the axis of the stator D-phase winding). r1 It is the rotor position angle of the ABC winding (i.e., the rotor electrical angle of the ABC winding). r2 It is the rotor position angle of the DEF winding (i.e., the rotor electrical angle of the DEF winding).

[0078] T e1 The electromagnetic torque generated by the ABC winding. T e2 This refers to the electromagnetic torque generated by the DEF winding. L d1 and L q1 The equivalent dq-axis inductance of the ABC winding is... L d2 and L q2 This is the equivalent dq-axis inductance of the DEF winding. i q1 This is the q-axis feedback current of the ABC winding. i q2 This is the q-axis feedback current of the DEF winding. i d1 This is the d-axis feedback current of the ABC winding. i d2 This is the d-axis feedback current of the DEF winding. p It is an extreme logarithm.

[0079] S1, Generate reference currents for each redundancy level.

[0080] The reference current selection module designates the ABC winding as the master winding based on information from the host computer. In this case, the DEF winding becomes the slave winding and is controlled by the ABC winding. Conversely, if the DEF winding is designated as the master winding, the ABC winding becomes the slave winding and is controlled by the DEF winding. The following explanation assumes the ABC winding is the master winding and the DEF winding is the slave winding.

[0081] The speed controller determines the motor's speed based on a given reference speed. Compared with actual speed oh r1 Calculate and output the q-axis reference current of the dq rotating coordinate system based on the difference. i * q1 The actual rotational speed of the windings was obtained through a rotary transformer. The actual rotational speed of the ABC windings was... oh r1 The actual rotational speed of the DEF winding is oh r2 .

[0082]

[0083] in, K p Indicates proportional gain; K i Indicates integral gain; oh * r Reference speed; oh r1 This represents the actual rotational speed of the ABC windings; This represents the sum of integral errors.

[0084] The q-axis reference current is distributed to the ABC windings as their q-axis reference current. i * q1 And set its d-axis reference current to 0, and the d-axis reference current of the DEF winding is also 0.

[0085] To achieve coordinated control of the two sets of windings, the DEF winding... q Shaft reference current i * q4 The three-phase currents of the ABC windings and the rotor position obtained from the rotary transformer are then used for... Clarke - Park The transformation yields the following formula:

[0086]

[0087] in, i a , i b , i c The three-phase currents of windings ABC; r2 The rotor position angle is the DEF winding.

[0088] Figure 2 The diagram shows that if the ABC winding is the slave winding, following the DEF winding as the master winding, then the q-axis reference current of the DEF winding is... i * q2 The q-axis reference current of the ABC winding is i * q3 .

[0089] S2, Obtain the feedback current of each redundancy level.

[0090] The three-phase current of the ABC winding is obtained by sampling the current through a current sensor. , , The rotor position angle of the ABC winding The q-axis feedback current of the ABC winding is obtained by performing the Clark-Park transformation. Feedback current with d-axis .

[0091]

[0092]

[0093] The three-phase current of the DEF winding is obtained by sampling the current sensor. , , The rotor position angle of the DEF winding The q-axis feedback current of the DEF winding is obtained by performing the Clark-Park transformation. Feedback current with d-axis .

[0094]

[0095]

[0096] S3, Generate reference voltage

[0097] ABC winding q-axis reference current i * q1 d-axis reference currenti * d1 =0 and q-axis feedback current d-axis feedback current The d-axis reference voltage U of the ABC winding is obtained by inputting to the inner loop current controller. d1 With q-axis reference voltage U q1 .

[0098] DEF winding q-axis reference current i * q4 d-axis reference current i * d2 =0 and q-axis feedback current d-axis feedback current The d-axis reference voltage U of the DEF winding is obtained by inputting to the inner loop current controller. d2 With q-axis reference voltage U q2 .

[0099] S4, drive motor

[0100] The d-axis reference voltage U of the ABC winding d1 With q-axis reference voltage U q1 Rotor position of ABC winding Input to the sinusoidal pulse width modulation module, output the duty cycle of the ABC winding. , , .

[0101] The d-axis reference voltage U of the DEF winding d2 With q-axis reference voltage U q2 relative to the rotor position of the DEF winding The input is sent to the sinusoidal pulse width modulation module, and the output is the duty cycle of the DEF winding. , , .

[0102] based on , , , , , Duty cycle controls the operation of the voltage source inverter and drives the motor.

[0103] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A multiphase motor control system with no communication redundancy, wherein the multiphase windings of the multiphase motor are divided into multiple electrically independent windings, each winding constituting a control redundancy; characterized in that, The system includes: The speed controller is configured to receive a given reference speed of the motor and the actual speed of each winding, and output a q-axis reference current in the dq rotating coordinate system. A reference current selection module, connected to the speed controller, receives the q-axis reference current. The reference current selection module specifies the master winding and slave winding among multiple winding sets based on information from the host computer, and outputs the d-axis and q-axis reference currents for each redundancy, as well as a circuit breaker signal for system reconfiguration. Specifically, the reference current of the master winding is set based on the q-axis reference current, and the d-axis and q-axis reference currents of the slave winding are generated through coordinate transformation based on the actual current of the master winding and the rotor position of the slave winding, thereby achieving master-slave following control without communication. Multiple inner-loop current controllers are connected to the reference current selection module. Each inner-loop current controller is configured to receive the d-axis and q-axis reference currents and their feedback currents of the corresponding windings, and output the corresponding d-axis and q-axis reference voltages. Multiple modulation and drive modules are configured to generate multiple switching signals based on the d-axis and q-axis reference voltages and rotor positions of all windings to drive and control each of the windings; the modulation and drive modules include a sinusoidal pulse width modulation module and an inverter; The sinusoidal pulse width modulation module is connected to the inner loop current controller, inputs the reference voltage of each redundancy and the rotor position of each winding, and generates the switching signal to drive the inverter. The inverter is connected to the output of the sinusoidal pulse width modulation module and drives the multiphase motor according to the switching signal.

2. The multiphase motor communication-free redundancy control system as described in claim 1, characterized in that: The system includes multiple current sensors that sample the three-phase current of each winding and convert it into the feedback current required by the inner loop current controller.

3. The multiphase motor communication-free redundancy control system as described in claim 1, characterized in that: The system includes a rotary transformer, which collects the actual rotational speed of each winding and outputs it to a speed controller.

4. The multiphase motor communication-free redundancy control system as described in claim 1, characterized in that: The inverter is a voltage source inverter.

5. The multiphase motor communication-free redundancy control system as described in any one of claims 1-4, characterized in that: The multiphase motor is a dual three-phase motor, which is divided into two sets of windings, one of which is designated as the main winding and the other as the slave winding.

6. A method for controlling multiphase motors without communication redundancy, characterized in that, The multiphase motor communication-free redundancy control system according to any one of claims 1-5 includes the following steps: S1, Generate reference currents for each redundancy level. The speed controller calculates and outputs the q-axis reference current of the dq rotating coordinate system based on the difference between the given reference speed and the actual speed of the motor. The reference current selection module specifies a main winding and at least one slave winding based on information from the host computer. The q-axis reference current is allocated to the main winding as its q-axis reference current, and its d-axis reference current is set. The slave winding follows the main winding. Based on the actual three-phase current of the main winding and the rotor position of the slave winding, the d-axis reference current and q-axis reference current of the slave winding are synchronously generated through coordinate transformation, so that the slave winding generates a rotating magnetic field that is completely synchronized and in phase with the main winding. S2, Obtain the feedback current of each redundancy level. The three-phase current of each winding is sampled using a current sensor; The three-phase current of each winding and its own rotor position are subjected to Clark-Park transformation to obtain the d-axis feedback current and q-axis feedback current of each winding. S3, Generate reference voltage The inner loop current controller calculates the current error based on the d-axis and q-axis reference currents of each redundancy and their corresponding d-axis and q-axis feedback currents, and generates the d-axis reference voltage and q-axis reference voltage for each winding. S4, drive motor The d-axis and q-axis reference voltages of each winding are combined with the rotor position to perform Clark-Park transformation, and the corresponding voltage is applied to the motor terminals through the modulation and drive module to control the motor operation.

7. The multiphase motor non-communication redundancy control method as described in claim 6, characterized in that: When the main winding fails, the host computer sends a command to switch the main winding, and the reference current selection module switches the current main winding according to the command.

8. The multiphase motor non-communication redundancy control method as described in claim 6, characterized in that: The specific steps for the slave winding to follow the master winding and synchronously obtain the d-axis reference current and q-axis reference current of the slave winding include: (1) The three-phase current of the main winding is measured by the current sensor of the winding, and the current components iα and iβ of the main winding in the two-phase stationary coordinate system are obtained by Clark transformation. (2). Using the rotor position angle of the slave winding, the current components iα and iβ of the main winding obtained in step (1) are transformed by Park, and the current components of the d-axis and q-axis in the rotating coordinate system of the slave winding are obtained synchronously as the d-axis reference current and q-axis reference current of the slave winding, respectively.

9. The multiphase motor non-communication redundancy control method as described in claim 6, characterized in that: The multiphase motor is a dual three-phase motor, which is divided into two sets of windings, one of which is designated as the main winding and the other as the slave winding. Then, in step S1, the q-axis reference current of the main winding and the q-axis reference current from the winding The calculation formula is as follows: In the formula, K p For proportional gain, K i For integral gain, Given a reference speed, ω r主 The actual rotational speed of the main winding. This is the cumulative sum of errors; In the formula, i 主1 i 主2 i 主3 These are the three-phase currents of the main winding, respectively. The rotor position angle from the winding; Furthermore, the d-axis reference current of the main winding and the d-axis reference current of the slave winding are both 0. In step S2, the q-axis feedback current i of the main winding q主 and the q-axis feedback current i from the winding q从 The calculation formula is as follows: Furthermore, the d-axis feedback current i of the main winding d主 and the d-axis feedback current i from the winding d从 The calculation formula is as follows: In the formula, i 主1 i 主2 i 主3 These are the three-phase currents of the main winding, i 从1 i 从2 i 从3 These are the three-phase currents from the winding, The rotor position angle of the main winding. The rotor position angle is from the winding.

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