Driving control method and system for multi-phase motor

Abstract

The invention discloses a driving control method and system for a multi-phase motor. A host winding in the motor is connected with a first driving control unit, a slave winding is connected with a second driving control unit, and the method comprises the following steps: the first driving control unit drives and controls the host winding according to a given speed, a given host current and a host rotor position; the given host current, the host rotor position and the fault information are sent to the second driving unit; when the fault information represents that the first driving control unit does not have a fault, the second driving control unit respectively performs proportional bias processing on the rotor position of the host and the given host current, and the obtained results are correspondingly used as the given angle of the slave and the current instruction value of the slave; and a slave winding is driven and controlled according to the slave given angle, the slave current instruction value and the electrical angle between the master and the slave. According to the invention, redundancy and reliability of multi-phase motor driving control are improved, and synchronism of driving control is ensured.

Description

Technical Field

[0001] This invention belongs to the field of motor control technology, and more specifically, relates to a drive control method and system for multiphase motors. Background Technology

[0002] Permanent magnet propulsion motors are key power output components for ships, submarines, and other similar vessels, requiring extremely high reliability. If the motor stops operating, the ship or submarine will be unable to navigate normally. Therefore, many permanent magnet propulsion motors employ multiphase motor designs, with six-phase permanent magnet propulsion motors being the most common.

[0003] The use of a six-phase motor adds a redundancy level, improving reliability. However, the driver for the six-phase motor still employs a traditional architecture of a single controller and two sets of three-phase full-bridge inverters. If the controller or one of the power devices in one set fails, the driver will be unable to drive the motor, reducing reliability. Therefore, improving the drive reliability of multiphase motors, especially six-phase permanent magnet propulsion motors, is of significant research importance. Summary of the Invention

[0004] The main objective of this invention is to provide a drive control method and system for multiphase motors to overcome the shortcomings of the prior art.

[0005] Based on the above objectives, a first aspect of the present invention provides a drive control method for a multiphase motor, the multiphase motor including a master winding and N slave windings, where N≥1, the master winding is connected to a first drive control unit, and the N slave windings are connected one-to-one with N second drive control units. The method includes: the first drive control unit driving and controlling the master winding according to a given speed, a given master current, and a master rotor position, and sending the given master current, the master rotor position, and fault information to each second drive unit; the second drive control unit judging whether the first drive control unit has failed based on the fault information, and when the judgment result is that the first drive control unit has not failed, the second drive control unit performing proportional bias processing on the master rotor position and the given master current, respectively, and using the results as slave given angle and slave current command values, and driving and controlling the slave windings connected thereto according to the slave given angle, slave current command values, and the electrical angle between the master and slave windings.

[0006] Preferably, the slave current command value and the slave given angle are respectively: ; in, , These are the q-axis and d-axis components of the slave current command value, respectively. Given an angle for the slave device, , These are the q-axis and d-axis components of the given host current, respectively. The position of the main rotor, This is the q-axis current multiplier. This is the d-axis current multiplier. This is the rotor position ratio factor. This is the q-axis current bias coefficient. This is the d-axis current bias coefficient. This is the rotor position offset coefficient. , , , , , .

[0007] Preferably, when the judgment result indicates that the first drive control unit has failed, the second drive control unit performs the following operations: using the slave rotor position as the slave given angle; performing PI adjustment on the difference between the given speed and the slave feedback speed to obtain the q-axis component of the slave current command value; the d-axis component of the slave current command value is a preset value; and driving control of the slave winding connected to it according to the slave given angle, the slave current command value, and the electrical angle between the master and slave.

[0008] Preferably, the second drive unit drives and controls the slave winding connected to it according to the slave given angle, the slave current command value, and the electrical angle between the master and slave, specifically including: acquiring the three-phase current of the slave winding connected to it and performing Clark transformation and Park transformation accordingly to obtain the slave feedback current; performing PI adjustment on the difference between the slave current command value and the slave feedback current; performing inverse Park operation on the PI-adjusted value according to the sum of the slave given angle and the electrical angle to obtain the slave drive voltage; and generating a corresponding PWM signal according to the slave drive voltage to drive and control the slave winding connected to it.

[0009] Preferably, the first drive control unit drives and controls the host winding according to a given speed, a given host current, and the host rotor position, specifically including: acquiring the three-phase current of the host winding and performing Clarke transformation and Parker transformation accordingly to obtain the host feedback current; performing PI regulation on the difference between the given host current and the host feedback current; wherein, the q-axis component of the given host current is obtained by PI regulation of the difference between the given speed and the host feedback speed; performing inverse Parker operation on the PI-regulated value according to the host rotor position to obtain the host drive voltage; and generating a corresponding PWM signal to drive and control the host winding according to the host drive voltage.

[0010] Preferably, the method further includes: a first driving unit sending carrier synchronization information and control information values ​​to a second driving unit; when the second driving unit drives and controls the slave winding connected to it, it controls the operation of the slave winding according to the control information, and adjusts the carrier signal driving and controlling the slave winding to be synchronized with the carrier signal driving and controlling the master winding according to the carrier synchronization information.

[0011] Preferably, the first drive control unit and the second drive control unit are connected by a first optical fiber and a second optical fiber; the first optical fiber is used to transmit data from the first drive control unit to the second drive control unit, and the second optical fiber is used to transmit data from the second drive control unit to the first drive control unit, so as to realize the synchronous cascading of the first drive control unit and the second drive control unit.

[0012] A second aspect of the present invention provides a drive control system for a multiphase motor, the multiphase motor including a master winding and N slave windings, where N≥1, the drive control system including a first drive control unit and N second drive control units, the first drive control unit being connected to the master winding, the N second drive control units being connected one-to-one with the N slave windings, and a communication connection being established between the first drive control unit and each of the second drive control units; the drive control system is used to execute the drive control method for the multiphase motor as described above.

[0013] A third aspect of the present invention provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the drive control method for a multiphase motor as described above.

[0014] A fourth aspect of the present invention provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the drive control method for a multiphase motor as described above.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: It provides a drive control method and system for multiphase motors, which uses N+1 drive control units in a master-slave synchronous manner to drive the multiphase motor. The N+1 drive control units can be mutually master-slave, for example, one can be selected as the master drive control unit and the other N as slave drive control units. When the master drive control unit fails, the slave drive control units can continue to operate and control the three-phase windings connected to it, thereby improving the redundancy and reliability of the drive. The master and slave drive control units can share data. When the drive control unit controlling the master winding is fault-free, the drive control unit controlling the slave winding directly drives and controls the slave winding according to the given master current and master rotor position, thereby realizing the parallel connection between the master and slave drive control units and the carrier synchronization between each parallel driver. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart of a drive control method for a multiphase motor provided in an embodiment of the present invention.

[0018] Figure 2 This is a control block diagram of a drive control method for a six-phase permanent magnet propulsion motor provided in an embodiment of the present invention.

[0019] Figure 3 This is a topological diagram of a six-phase permanent magnet propulsion motor.

[0020] Figure 4 A schematic diagram of the topology of a drive control unit driving a six-phase permanent magnet propulsion motor, provided in an embodiment of the present invention.

[0021] Figure 5 This is a topology diagram of the H-bridge module.

[0022] Figure 6 This is a topology diagram of the H-bridge module driven by the drive unit.

[0023] Figure 7 This is a schematic diagram showing the connection relationship between one phase winding of the motor and the H-bridge.

[0024] Figure 8 This is a schematic diagram of the communication connection between two drive control units.

[0025] Figure 9 A schematic diagram for generating PWM for output voltage signal conversion.

[0026] Figure 10 This is a schematic diagram of the carrier synchronization process.

[0027] Figure 11 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0028] In view of the shortcomings of the prior art, the inventors of this invention, through long-term research and extensive practice, have proposed the technical solution of this invention. The following will further explain and illustrate the technical solution, its implementation process, and its principles.

[0029] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0030] Furthermore, in the description of this invention, it should be understood that the terms "upper," "lower," "inner," "outer," "horizontal," "vertical," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0031] In the description of this specification, the references to terms such as "an embodiment," "a particular embodiment," or "the embodiment" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0032] Figure 1 A flowchart illustrating a drive control method for a multiphase motor provided in an embodiment of the present invention. Please refer to [link / reference]. Figure 1 The drive control method for multiphase motors includes the following operations S100-S200. The multiphase motor includes one master winding and N slave windings, where N≥1. The master winding is connected to a first drive control unit, and the N slave windings are connected one-to-one with N second drive control units. The multiphase motor can be, for example, a six-phase permanent magnet propulsion motor, or other types of motors with 3N+3 phases (e.g., permanent magnet synchronous motors, switched reluctance motors, asynchronous motors, etc.).

[0033] In operation S100, the first drive control unit drives and controls the main winding according to the given speed, given main current and main rotor position, and sends the given main current, main rotor position and fault information to the second drive unit.

[0034] In operation S200, the second drive control unit determines whether the first drive control unit has malfunctioned based on the fault information. When the determination result is that the first drive control unit has not malfunctioned, the second drive control unit performs proportional bias processing on the main rotor position and the given main current, and uses the obtained results as the slave given angle and slave current command values. Based on the slave given angle and slave current command values ​​and the electrical angle between the master and slave, the second drive control unit drives and controls the slave winding connected to it.

[0035] In a preferred embodiment, the second drive control unit calculates the slave given angle based on the master rotor position and calculates the slave current command value based on the given master current. The calculated slave current command value and slave given angle are as follows: ; in, , These are the q-axis and d-axis components of the slave current command value, respectively. Given an angle by the slave device, , These are the q-axis and d-axis components of the given host current, respectively. For the position of the main rotor, This is the q-axis current multiplier. This is the d-axis current multiplier. This is the rotor position ratio factor. This is the q-axis current bias coefficient. This is the d-axis current bias coefficient. This is the rotor position offset coefficient. , , , , , . , , , , , It is mainly used to correct the current consistency between the master and slave. These parameters are measured. If the linearity is good after measurement, a single value is used. If the linearity is not good, a table is created based on the current speed and the given current value for querying and determining.

[0036] In a preferred embodiment, when the determination result indicates that the first drive control unit has failed, the second drive control unit switches to master mode and performs the following operations S200': using the slave rotor position as the slave given angle; performing PI adjustment on the difference between the given speed and the slave feedback speed to obtain the q-axis component of the slave current command value; the d-axis component of the slave current command value is a preset value; and driving and controlling the slave winding connected to it according to the slave given angle, the slave current command value, and the electrical angle between the master and slave.

[0037] In a preferred embodiment, in operation S100, the first drive control unit drives and controls the main unit winding according to a given speed, a given main unit current and the main unit rotor position, specifically including the following sub-operations S11-S14.

[0038] In sub-operation S11, the three-phase current of the main winding is collected and Clark transformation and Park transformation are performed accordingly to obtain the main feedback current.

[0039] In sub-operation S12, the difference between the given host current and the host feedback current is PI-regulated; wherein, the q-axis component of the given host current is obtained by PI regulation of the difference between the given speed and the host feedback speed.

[0040] In sub-operation S13, the value after PI adjustment is inversely Parked based on the position of the main rotor to obtain the main drive voltage.

[0041] In sub-operation S14, a corresponding PWM signal is generated based on the host drive voltage to drive and control the host winding.

[0042] In a preferred embodiment, in operation S200 and operation S200', the second drive unit drives and controls the slave winding connected to it according to the slave given angle, the slave current command value and the electrical angle between the master and slave, specifically including the following sub-operations S21-S24.

[0043] In sub-operation S21, the three-phase current of the slave winding connected to it is collected and Clark transformation and Park transformation are performed accordingly to obtain the slave feedback current.

[0044] In sub-operation S22, the difference between the slave current command value and the slave feedback current is PI-regulated.

[0045] In sub-operation S23, the slave drive voltage is obtained by performing an inverse Park operation on the PI-adjusted value based on the sum of the slave given angle and the electrical angle.

[0046] In sub-operation S24, a corresponding PWM signal is generated based on the slave drive voltage to drive and control the slave winding connected to it.

[0047] In a preferred embodiment, the method further includes: a first drive unit sending carrier synchronization information and control information values ​​to a second drive unit; when the second drive unit drives and controls the slave winding connected to it, it controls the operation of the slave winding connected to it according to the control information, and adjusts the carrier signal of the drive control slave winding to be synchronized with the carrier signal of the drive control master winding according to the carrier synchronization information. More preferably, the carrier synchronization information and control information are simultaneously sent to the second drive control unit along with the given master current, master rotor position, and fault information in operation S100.

[0048] In a preferred embodiment, the first drive control unit and the second drive control unit are connected by a first optical fiber and a second optical fiber; the first optical fiber is used to transmit data from the first drive control unit to the second drive control unit, and the second optical fiber is used to transmit data from the second drive control unit to the first drive control unit, so as to realize the synchronous cascading of the first drive control unit and the second drive control unit.

[0049] The technical solution of the present invention will be further described in detail below with reference to several preferred embodiments and accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Test methods in the following embodiments that do not specify specific conditions are generally performed under conventional conditions.

[0050] Taking a six-phase permanent magnet propulsion motor as an example, combined with Figures 2-10 The drive control method for multiphase motors provided by this invention will be further described below, and its control block diagram is as follows: Figure 2 As shown.

[0051] Six-phase permanent magnet propulsion motor, such as Figure 3 As shown, U1_1, V1_1, and W1_1 form one set of three-phase windings. The motor output terminals U1_1 and U1_2, V1_1 and V1_2, and W1_1 and W1_2 represent three phases of this three-phase winding. U2_1, V2_1, and W2_1 form another set of three-phase windings. The motor output terminals U2_1 and U2_2, V2_1 and V2_2, and W2_1 and W2_2 represent three phases of this three-phase winding. The electrical angle between the two sets of three-phase windings is φ (0°≤φ≤180°). Either of these two sets of three-phase windings can be chosen as the main winding and the other as the slave winding.

[0052] See Figure 4An exemplary topology for controlling a six-phase permanent magnet propulsion motor using a first drive control unit and a second drive control unit is provided. The first drive control unit, H-bridges UA1, UB1, and UC1, along with their connected filter units, constitute the first drive control unit. H-bridges UA1, UB1, and UC1 form the drive unit. The second drive control unit, H-bridges UA2, UB2, and UC2, along with their connected filter units, constitute the second drive control unit. H-bridges UA2, UB2, and UC2 form the drive unit. A communication connection is established between the first and second control units to transmit key information. Each control unit drives one set of three-phase windings in the six-phase permanent magnet propulsion motor, and the output of each H-bridge drives the motor after passing through a filter unit.

[0053] Figure 4 The structure of the H-bridge, for example Figure 5 As shown. See also Figure 5 The H-bridge shown consists of four silicon carbide power devices or insulated-gate bipolar transistors (IGBTs), with its output terminals X1 and X2 connected to the filter unit. (See reference...) Figure 7 The output terminals X1 and X2 of the H-bridge arms are connected to the filter unit. Each H-bridge group corresponds to one filter unit. , The inductance and resistance of this phase of the motor winding represent the output connection of the H-bridge to the corresponding filter unit and the motor winding. The other five H-bridges are similar, connecting to the corresponding filter unit and the motor phase winding respectively.

[0054] Figure 5 The driving principle of the H-bridge shown is as follows: Figure 6 As shown, the drive unit receives the output voltage signal from the control units (first control unit and second control unit) and converts the received voltage signal into a pulse width modulation (PWM) signal to drive the power devices in the H-bridge. The process of converting the output voltage signal into a PWM output signal is as follows: Figure 9 As shown in the diagram, the triangular wave is the carrier signal, and the sine wave is the voltage signal to be output. The sine wave and the triangular carrier wave are compared. When the amplitude of the sine wave is greater than that of the triangular wave, the PWM output level is positive; when the amplitude of the sine wave is less than that of the triangular wave, the PWM output level is negative; and when the amplitude of the sine wave is equal to that of the triangular wave, the output level remains unchanged. The remaining five H-bridges receive the corresponding voltage values ​​to be output in each phase, compare them with the triangular carrier waves of the same phase amplitude, and then output the corresponding PWM waveforms.

[0055] See Figure 8A communication connection is established between the first drive control unit and the second drive control unit. Specifically, a communication connection is established between the first control unit in the first drive control unit and the second control unit in the second drive control unit, for example, a high-speed fiber optic communication connection. Figure 8 In the middle, A represents the field programmable gate array (FPGA) device inside the control unit. Data information is transmitted between the two control units through optical fibers Tx1 and Rx1, such as constant current, feedback current, rotor angle information, carrier synchronization information, fault information, control commands, etc.

[0056] During normal operation, the first control unit acts as the master unit, and the second control unit acts as the slave unit. The master unit sends a given master current ( and ), Main rotor position Given speed The master sends fault information, carrier synchronization information, and control commands to the slave device, while the slave device sends fault information, feedback current, and driver status information to the master. Carrier synchronization information is primarily used to synchronize the carrier signals of all power devices between the master and slave. Control commands include start, stop, forward rotation, and reverse rotation. The slave device feeds back fault information to the master, informing the master that a fault exists in the slave device and prompting the master to respond, such as stopping the master or continuing operation while the slave stops. Feedback current information informs the master of the winding current of the slave device, facilitating the master's calculation of the total current and control actions. Driver status information indicates whether the slave device is currently running, stopped, rotating forward, or rotating in reverse.

[0057] See Figure 2 The control block diagram shown illustrates a preferred drive control method. Figure 2 In this configuration, the first control unit and the first drive unit (containing three H-bridges) constitute the first drive control unit, and the second control unit and the second drive unit (containing three H-bridges) constitute the second drive control unit.

[0058] The first control unit outputs voltage information to the H-bridge module of the first drive unit. The H-bridge module outputs the drive voltage of the corresponding phase to generate the required winding current. The working principle of the first drive control unit is as follows.

[0059] The first control unit receives current feedback information 1u1, 1v1, and 1w1; the current feedback information 1u1, 1v1, and 1w1 enters module 1 of the first control unit for Clarke transformation, and outputs the current value in the stationary coordinate system after transformation. and Current value and Module 2, which enters the first control unit, performs Parker conversion, and simultaneously, the current value... and It also enters the rotor position estimation and speed estimation module of the first control unit, and calculates the main rotor position of the motor using a sensorless algorithm. and the speed of the motor host Main rotor position The current and voltage are calculated by entering modules 2 and 3 of the first control unit, respectively. The current value entering module 2... and Generate feedback current signal and ; With a given current After obtaining the error current by taking the difference, PI regulation is performed. With a given current After calculating the difference and obtaining the error current, PI regulation is performed; the output values ​​of the two PI regulators enter module 3 for inverse Parking calculation, and the calculated output is the given voltage value. and The space vector pulse width modulation (SVPWM) output control unit is configured using the following formula. and Solve into , and The three-phase given voltage values ​​are respectively supplied to the drive sections of the three H-bridge module units: ; The first driving unit is based on the solution obtained , and Generate a PWM signal to control the switching logic of the power devices. Given a current... It is derived from the output of the speed loop PI control, and the input value of the speed loop PI control is the given speed. and estimated motor speed The difference. The first control unit will , , Information such as fault information, control information, and carrier synchronization information is transmitted to the high-speed communication information processing unit, which then transmits this information to the second control unit via high-speed optical fiber. The working principle of the second drive control unit is as follows.

[0060] The second control unit receives current feedback information 1u2, 1v2, and 1w2; the current feedback information 1u2, 1v2, and 1w2 enters module 1 of the second control unit for Clarke transformation, and outputs the current value in the stationary coordinate system after transformation. and Current value and Module 2, which enters the second control unit, performs Parker transformation, and simultaneously, the current value... and It also enters the rotor position estimation and speed estimation module of the second control unit, and calculates the slave rotor position of the motor through a sensorless algorithm. and the speed of the motor slave and the calculated and It is passed to the fault redundancy processing module.

[0061] The high-speed communication information processing unit of the second control unit receives information sent by the first control unit, and also sends feedback current, fault information, and status information of the second control unit back to the first control unit through the high-speed communication information processing unit. The second control unit receives information sent by the first main control unit. , , After processing the fault information, this information is transmitted to the fault redundancy processing module. The fault redundancy processing module receives the information sent by the first control unit. , , And fault information, as well as calculations made through a sensorless algorithm , and (by a given speed) and estimated motor speed The difference in values ​​is obtained after PI adjustment by the speed loop.

[0062] When the first control unit is fault-free, the fault redundancy processing module will... , , The input value is passed to the given output unit, which then assigns the input value to the given output unit. , , : ; When the first control unit fails, the fault redundancy processing module will... , , The input value is passed to the given output unit, which then assigns the input value to the given output unit. , , : ; in Modules 2 and 3 of the second control unit respectively enter the second control unit. The bias angles of the first and second three-phase windings are determined when the first main control unit fails. The current value entering module 2. and Generate feedback current signal and , respectively with a given current and After obtaining the error current by subtraction, a PI regulator is applied. The output value of the PI regulator is then fed into module 3 for inverse Parking calculation, which outputs the given voltage value. and The SVPWM output control unit is supplied with the following formula: and Solve into , and The three-phase given voltage values ​​are respectively fed to the drive sections of the three H-bridge module units, which then generate PWM signals to control the switching logic of the power devices: ; The high-speed communication information processing unit of the second control unit receives the carrier synchronization signal sent by the first control unit. This signal is directly transmitted to the SVPWM output control unit, which then transmits it to the corresponding H-bridge PWM generation unit. Upon receiving the carrier synchronization signal, the H-bridge PWM generation unit... Figure 10 As shown, the phase of the carrier wave is immediately synchronized with that of the carrier signal of the first control unit.

[0063] When a fault occurs in one of the H-bridge modules of the first or second control unit, that H-bridge module can be directly disconnected, while the remaining H-bridge modules can continue to operate. When the first control unit fails, the second control unit can be directly switched to host mode through the fault redundancy processing module.

[0064] The drive control method for multiphase motors provided in this invention, when driving and controlling a six-phase permanent magnet propulsion motor, employs a control strategy of dual control unit master-slave synchronization and six sets of H-bridge topology collaborative drive. This ensures that when one control unit fails, the other control unit can continue to operate, and each H-bridge can independently control the current of each phase winding, improving the redundancy and reliability of the driver. Furthermore, the high-speed fiber optic real-time data transmission between the two control units enables parallel connection of multiple control units. This method also achieves carrier synchronization between the parallel drivers, thereby ensuring the synchronization of the driver's PWM switching output.

[0065] Based on the same inventive concept, corresponding to any of the above-described embodiments, this application also provides a drive control system for a multiphase motor. The multiphase motor includes one master winding and N slave windings, where N ≥ 1. The drive control system for the multiphase motor includes a first drive control unit and N second drive control units. The first drive control unit is connected to the master winding of the motor, and the N second drive control units are connected one-to-one with the N slave windings. A communication connection is established between the first drive control unit and the second drive control units. This system is used to execute the above-described drive control method for a multiphase motor.

[0066] Further functional descriptions of the above system are the same as those of the corresponding method embodiments described above, and will not be repeated here.

[0067] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the drive control method for a multiphase motor described in any of the above embodiments.

[0068] Figure 11 This embodiment illustrates a more specific hardware structure of an electronic device, which may include a processor 1110, a memory 1120, an input / output interface 1130, a communication interface 1140, and a bus 1150. The processor 1110, memory 1120, input / output interface 1130, and communication interface 1140 are interconnected internally via the bus 1150.

[0069] The processor 1110 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0070] The memory 1120 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1120 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1120 and is called and executed by the processor 1110.

[0071] Input / output interface 1130 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0072] The communication interface 1140 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0073] Bus 1150 includes a pathway for transmitting information between various components of the device, such as processor 1110, memory 1120, input / output interface 1130, and communication interface 1140.

[0074] It should be noted that although the above-described device only shows the processor 1110, memory 1120, input / output interface 1130, communication interface 1140, and bus 1150, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0075] The electronic devices described above are used to implement the corresponding drive control methods for multiphase motors in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0076] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides a non-transitory computer-readable storage medium that stores computer instructions for causing a computer to execute the drive control method for a multiphase motor as described in any of the above embodiments.

[0077] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0078] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the drive control method for multiphase motors as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0079] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0080] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this application, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this application, and this also takes into account the fact that the details of the implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this application will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this application, it will be apparent to those skilled in the art that the embodiments of this application can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0081] Although this application has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0082] It should be understood that the above embodiments are merely illustrative of the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A drive control method for a multiphase motor, characterized in that, The multiphase motor includes one master winding and N slave windings, where N ≥ 1. The master winding is connected to a first drive control unit, and the N slave windings are connected one-to-one with N second drive control units. The method includes: The first drive control unit drives and controls the main winding according to the given speed, given main current and main rotor position, and sends the given main current, the main rotor position and fault information to each second drive unit. The second drive control unit determines whether the first drive control unit has malfunctioned based on the fault information. When the determination result is that the first drive control unit has not malfunctioned, the second drive control unit performs proportional bias processing on the master rotor position and the given master current, and uses the obtained results as the slave given angle and slave current command values. Based on the slave given angle, slave current command values ​​and the electrical angle between the master and slave, the second drive control unit drives and controls the slave winding connected to it.

2. The drive control method for a multiphase motor according to claim 1, characterized in that, The slave current command value and the slave given angle are respectively: ； in, , These are the q-axis and d-axis components of the slave current command value, respectively. Given an angle for the slave device, , These are the q-axis and d-axis components of the given host current, respectively. The position of the main rotor, This is the q-axis current multiplier. This is the d-axis current multiplier. This is the rotor position ratio factor. This is the q-axis current bias coefficient. This is the d-axis current bias coefficient. This is the rotor position offset coefficient. , , , , , .

3. The drive control method for a multiphase motor according to claim 1, characterized in that, When the determination result indicates that the first drive control unit has failed, the second drive control unit performs the following operations: The slave rotor position is taken as the given angle of the slave; The difference between the given speed and the slave feedback speed is adjusted using a PI controller to obtain the q-axis component of the slave current command value; the d-axis component of the slave current command value is a preset value. The slave winding connected to it is driven by the slave given angle, the slave current command value, and the electrical angle between the master and slave.

4. The drive control method for a multiphase motor according to any one of claims 1-3, characterized in that, The second drive unit controls the slave winding connected to it based on the slave given angle, the slave current command value, and the electrical angle drive between the master and slave, specifically including: The three-phase current of the slave winding connected to it is collected and Clarke transformation and Park transformation are performed accordingly to obtain the slave feedback current; The difference between the slave current command value and the slave feedback current is PI-regulated; Based on the sum of the given angle of the slave device and the electrical angle, the value after PI adjustment is subjected to inverse Parking calculation to obtain the slave device drive voltage; The corresponding PWM signal is generated based on the slave drive voltage to drive and control the slave winding connected to it.

5. The drive control method for a multiphase motor according to any one of claims 1-3, characterized in that, The first drive control unit drives and controls the main unit windings according to the given speed, given main unit current, and main unit rotor position, specifically including: The three-phase current of the main unit winding is collected and Clarke transformation and Park transformation are performed accordingly to obtain the main unit feedback current. The difference between the given host current and the host feedback current is PI-regulated; wherein, the q-axis component of the given host current is obtained by PI regulation of the difference between the given speed and the host feedback speed; Based on the position of the main rotor, the value after PI adjustment is inversely Parked to obtain the main drive voltage; The host drive voltage generates a corresponding PWM signal to drive and control the host winding.

6. The drive control method for a multiphase motor according to claim 1, characterized in that, The method further includes: The first driving unit sends carrier synchronization information and control information values ​​to the second driving unit; When the second drive unit drives and controls the slave winding connected to it, it controls the operation of the slave winding according to the control information, and adjusts the carrier signal of the drive control slave winding to be synchronized with the carrier signal of the drive control master winding according to the carrier synchronization information.

7. The drive control method for a multiphase motor according to claim 1, characterized in that, The first drive control unit and the second drive control unit are connected by the first optical fiber and the second optical fiber. The first optical fiber is used to transmit data from the first drive control unit to the second drive control unit, and the second optical fiber is used to transmit data from the second drive control unit to the first drive control unit, so as to realize the synchronous cascading of the first drive control unit and the second drive control unit.

8. A drive control system for a multiphase motor, characterized in that, The multiphase motor includes one master winding and N slave windings, where N≥1. The drive control system includes a first drive control unit and N second drive control units. The first drive control unit is connected to the master winding, and the N second drive control units are connected one-to-one with the N slave windings. A communication connection is established between the first drive control unit and each of the second drive control units. The drive control system is used to execute the drive control method for a multiphase motor as described in any one of claims 1-7.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the drive control method for a multiphase motor as described in any one of claims 1-7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to execute the drive control method for a multiphase motor as described in any one of claims 1-7.

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