Drive control method and system for multiphase motors

Abstract

This invention discloses a drive control method and system for a multiphase motor. The master winding of the motor is connected to a first drive control unit, and the slave winding is connected to a second drive control unit. The method includes: the first drive control unit drives and controls the master winding according to a given speed, a given master current, and the master rotor position, and sends the given master current, master rotor position, and fault information to the second drive unit; when the fault information indicates that the first drive control unit has not failed, the second drive control unit performs proportional bias processing on the master rotor position and the given master current, respectively, and uses the results as the slave given angle and slave current command values, and drives and controls the slave winding according to the slave given angle, slave current command values, and the electrical angle between the master and slave windings. This invention improves the redundancy and reliability of multiphase motor drive control and ensures the synchronization of drive control.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of motor control, and more particularly, relates to a driving control method and system for a multi-phase motor. BACKGROUND

[0002] Permanent magnet propulsion motor is the main power output component of a ship, a submarine and the like, and the reliability requirement thereof is extremely high. Once the motor stops running, the ship, the submarine and the like will not be able to sail normally. Therefore, many permanent magnet propulsion motors adopt a multi-phase motor mode, and a six-phase permanent magnet propulsion motor is commonly used.

[0003] Due to the adoption of the six-phase motor, the motor increases one level of redundancy and provides reliability. However, the driver of the six-phase motor still adopts a traditional single controller + two sets of three-phase full-bridge inverter architecture. When the controller or the power device of one of the sets is damaged, the driver will not be able to drive the motor, and the reliability is reduced. Therefore, how to improve the driving reliability of the multi-phase motor, especially the six-phase permanent magnet propulsion motor, has important research significance. SUMMARY

[0004] The main purpose of the present application is to provide a driving control method and system for a multi-phase motor to overcome the shortcomings of the prior art.

[0005] To achieve the above purpose, the first aspect of the present application provides a driving control method for a multi-phase motor, the multi-phase motor comprising one master winding and N slave windings, N≥1, the master winding being connected to a first driving control unit, the N slave windings being connected to N second driving control units in one-to-one correspondence, the method comprising: the first driving 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 driving unit; the second driving control unit judging whether the first driving control unit has failed according to the fault information, and when the judgment result is that the first driving control unit has not failed, the second driving control unit performing proportional bias processing on the master rotor position and the given master current respectively, and taking the obtained results as slave given angles and slave current command values respectively, and driving and controlling the slave windings connected thereto according to the slave given angles, the slave current command values and the electrical angle between the master and the slave.

[0006] Preferably, the slave current command value and the slave given angle are respectively:

[0007] ;

[0008] wherein, 、 are q-axis and d-axis components in the slave current command value, respectively. is the slave given angle, , is the q-axis component of the given master current, is the master rotor position, is the q-axis current scaling factor, is the d-axis current scaling factor, is the rotor position scaling factor, is the q-axis current offset factor, is the d-axis current offset factor, is the rotor position offset factor, , , , , , .

[0009] Preferably, when the judgment result is that the first drive control unit is faulty, the second drive control unit performs the following operations: taking the slave rotor position as the slave given angle; performing PI regulation 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 amount; and driving the slave winding connected thereto according to the slave given angle, the slave current command value, and the electrical angle between the master and the slave.

[0010] Preferably, the second drive unit drives the slave winding connected thereto according to the slave given angle, the slave current command value, and the electrical angle between the master and the slave, specifically including: collecting three-phase currents of the slave winding connected thereto and performing Clark transformation and Park transformation thereon to obtain slave feedback currents; performing PI regulation on the difference between the slave current command value and the slave feedback currents; performing inverse Park operation on the PI-regulated value according to the sum of the slave given angle and the electrical angle to obtain slave drive voltages; and generating corresponding PWM signals according to the slave drive voltages to drive control the slave winding connected thereto.

[0011] Preferably, the first drive control unit drives the master winding according to the given speed, the given master current, and the master rotor position, specifically including: collecting three-phase currents of the master winding and performing Clark transformation and Park transformation thereon to obtain master feedback currents; performing PI regulation on the difference between the given master current and the master feedback currents; wherein the q-axis component of the given master current is obtained by performing PI regulation on the difference between the given speed and the master feedback speed; performing inverse Park operation on the PI-regulated value according to the master rotor position to obtain master drive voltages; and generating corresponding PWM signals according to the master drive voltages to drive control the master winding.

[0012] Preferably, the method further comprises: the first driving unit sending carrier synchronization information and control information to the second driving unit; and the second driving unit driving and controlling the slave winding connected thereto, and controlling operation of the slave winding according to the control information and adjusting a carrier signal for driving and controlling the slave winding to be synchronized with a carrier signal for driving and controlling the master winding according to the carrier synchronization information.

[0013] Preferably, the first driving control unit and the second driving control unit are connected through a first optical fiber and a second optical fiber; the first optical fiber is used for transmitting data from the first driving control unit to the second driving control unit, and the second optical fiber is used for transmitting data from the second driving control unit to the first driving control unit, so as to realize synchronous cascading of the first driving control unit and the second driving control unit.

[0014] The second aspect of the present application provides a driving control system for a multiphase motor, the multiphase motor comprising a master winding and N slave windings, N≥1, the driving control system comprising a first driving control unit and N second driving control units, the first driving control unit being connected to the master winding, the N second driving control units being connected to the N slave windings one by one, and a communication connection being established between the first driving control unit and each of the second driving control units; the driving control system being used to execute the driving control method for a multiphase motor as described above.

[0015] The third aspect of the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to realize the driving control method for a multiphase motor as described above.

[0016] The fourth aspect of the present application provides a non-transitory computer readable storage medium, the non-transitory computer readable storage medium storing computer instructions for causing a computer to execute the driving control method for a multiphase motor as described above.

[0017] Compared with the prior art, the application has the beneficial effects that: a driving control method and system for a multiphase motor are provided, N+1 driving control units are used in a master-slave synchronization manner to cooperatively drive the multiphase motor, the N+1 driving control units can be in a master-slave relationship, for example, one is selected as a master driving control unit and the other N are selected as slave driving control units, when the master driving control unit fails, the slave driving control units can continue to run and control the three-phase windings connected thereto, improving the redundancy and reliability of driving; data can be shared between the master-slave driving control units, when the driving control unit controlling the master host windings is not faulty, the driving control unit controlling the slave host windings directly drives the slave host windings according to the given master host current and master host rotor position, realizing parallel connection between the master-slave driving control units and carrier synchronization between the parallel drivers. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0019] Figure 1 The flow chart of the driving control method for the multiphase motor provided by the embodiment of the present application.

[0020] Figure 2 The control block diagram of the driving control method for the six-phase permanent magnet propulsion motor provided by the embodiment of the present application.

[0021] Figure 3 The topology schematic diagram of the six-phase permanent magnet propulsion motor.

[0022] Figure 4 The topology architecture schematic diagram of the driving control unit driving the six-phase permanent magnet propulsion motor provided by the embodiment of the present application.

[0023] Figure 5 The topology schematic diagram of the H-bridge module.

[0024] Figure 6 The topology schematic diagram of the driving unit driving the H-bridge module.

[0025] Figure 7 The connection relationship schematic diagram of the motor one-phase winding and the H-bridge.

[0026] Figure 8 The communication connection schematic diagram between the two driving control units.

[0027] Figure 9 The schematic diagram of the output voltage signal conversion to PWM.

[0028] Figure 10 A schematic diagram for a carrier synchronization process.

[0029] Figure 11 A schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0030] In view of the deficiencies in the prior art, the present inventors have, through long-term research and a large number of practices, come up with the technical solution of the present application. The technical solution, its implementation process and principles will be further explained as follows.

[0031] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without the specific details presented herein. In other instances, well-known methods have not been described in detail in order to avoid unnecessarily complicating the present application. Therefore, the scope of the present application is indicated by the appended claims rather than the specific embodiments disclosed herein.

[0032] In addition, in the description of the present application, it should be understood that the terms "upper", "lower", "inner", "outer", "horizontal", "vertical", and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0033] In the description of the present application, the description of the terms "one embodiment", "an embodiment", "the embodiment", and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples.

[0034] Figure 1 A flowchart of a driving control method for a multiphase motor provided by an embodiment of the present application. Please refer to Figure 1 The driving control method for a multiphase motor includes the following operations S100-S200. The multiphase motor includes one master winding and N slave windings, N≥1, the master winding is connected to a first driving control unit, and the N slave windings are connected to N second driving control units one by one. The multiphase motor is, for example, a six-phase permanent magnet propulsion motor, and can also be a motor of other 3N+3 phases (for example, permanent magnet synchronous motor, switched reluctance motor, asynchronous motor, etc.) of other types.

[0035] The first drive control unit drives and controls the host winding according to the given speed, the given host current and the host rotor position, and sends the given host current, the host rotor position and the fault information to the second drive unit.

[0036] The second drive control unit judges whether the first drive control unit has a fault according to the fault information, and when the judgment result is that the first drive control unit has no fault, the second drive control unit respectively performs proportional bias processing on the host rotor position and the given host current, and takes the obtained results as the slave given angle and the slave current command value respectively, and drives and controls the slave winding connected thereto according to the slave given angle, the slave current command value and the electrical angle between the host and the slave.

[0037] In a preferred embodiment, the second drive control unit calculates the slave given angle according to the host rotor position, and calculates the slave current command value according to the given host current, and the calculated slave current command value and the slave given angle are respectively:

[0038] ;

[0039] wherein, 、 are q-axis and d-axis components in the slave current command value respectively, is the slave given angle, 、 are q-axis and d-axis components in the given host current respectively, is the host rotor position, is a q-axis current multiplication coefficient, is a d-axis current multiplication coefficient, is a rotor position multiplication coefficient, is a q-axis current bias coefficient, is a d-axis current bias coefficient, is a rotor position bias coefficient, , , , , , . 、 、 、 、 、 These parameters are mainly used to correct the consistency of the host and slave currents, and after actual measurement, if the linearity is good, a single value is adopted, and if the linearity is not good, a table is established according to the current speed and the given current to determine.

[0040] 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.

[0041] 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.

[0042] In sub-operation S11, the three-phase current of the main unit winding is collected and Clark transformation and Park transformation are performed accordingly to obtain the main unit feedback current.

[0043] 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.

[0044] 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.

[0045] In sub-operation S14, a corresponding PWM signal is generated based on the host drive voltage to drive and control the host winding.

[0046] 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.

[0047] 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.

[0048] In sub-operation S22, the difference between the slave current command value and the slave feedback current is PI-regulated.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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:

[0064] ;

[0065] 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.

[0066] 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 calculate and It is passed to the fault redundancy processing module.

[0067] The high-speed communication information processing unit of the second control unit receives information sent by the first control unit, and 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.

[0068] 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. , , :

[0069] ;

[0070] 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. , , :

[0071] ;

[0072] 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:

[0073] ;

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.).

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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 electric machine, characterized by, The polyphase motor comprises one master winding and N slave windings, N≥1, the master winding is connected with a first driving control unit, and the N slave windings are connected with N second driving control units one by one, and the method comprises: The first driving control unit drives and controls the master winding according to a given speed, a given master current and a master rotor position, and sends the given master current, the master rotor position and fault information to each second driving unit; The second driving control unit judges whether the first driving control unit has a fault according to the fault information, when the judgment result is that the first driving control unit has no fault, the second driving control unit proportionally offsets the master rotor position and the given master current respectively, and the obtained results are used as slave given angles and slave current command values respectively, and the slave windings connected with the second driving control units are driven and controlled according to the slave given angles, the slave current command values and the electrical angle between the master and the slave; Wherein, the second driving control unit proportionally offsets the master rotor position and the given master current respectively, and the obtained slave given angles and slave current command values are respectively: ； ； ； wherein, , are q, d-axis components of the slave machine current command value, respectively, is the slave machine given angle, , are q, d-axis components of the given master machine current, respectively, is the master machine rotor position, is a q-axis current multiplication coefficient, is a d-axis current multiplication coefficient, is a rotor position multiplication coefficient, is a q-axis current offset coefficient, is a d-axis current offset coefficient, is a rotor position offset coefficient, , , , , , .

2. The drive control method for a multiphase motor according to claim 1, characterized by, When the judgment result is that the first driving control unit has a fault, the second driving control unit performs the following operations: The slave rotor position is used as the slave given angle; The difference between the given speed and the slave feedback speed is PI regulated to obtain the q-axis component in the slave current command value; the d-axis component in the slave current command value is a preset value; The slave windings connected with the second driving control units are driven and controlled according to the slave given angles, the slave current command values and the electrical angle between the master and the slave.

3. The drive control method for a multiphase motor according to claim 1 or 2, characterized by, The second driving unit drives and controls the slave windings connected with the second driving control units according to the slave given angles, the slave current command values and the electrical angle between the master and the slave, specifically comprising: Three-phase currents of the slave windings connected with the second driving control units are collected and clark transformation and park transformation are performed thereon to obtain slave feedback currents; The difference between the slave current command value and the slave feedback current is PI regulated; The sum of the slave given angle and the electrical angle is used to perform inverse park operation on the PI regulated value to obtain slave driving voltage; The slave windings connected with the second driving control units are driven and controlled according to the slave driving voltage.

4. The drive control method for a multiphase motor according to claim 1 or 2, characterized by, The first driving control unit drives and controls the master winding according to a given speed, a given master current and a master rotor position, specifically comprising: Three-phase currents of the master winding are collected and clark transformation and park transformation are performed thereon to obtain master feedback currents; The difference between the given master current and the master feedback current is PI regulated; wherein, the q-axis component in the given master current is obtained by PI regulating the difference between the given speed and the master feedback speed; The master driving voltage is obtained by performing inverse park operation on the PI regulated value according to the master rotor position; The master winding is driven and controlled according to the master driving voltage.

5. The drive control method for a multiphase motor according to claim 1, characterized by, The method further comprises: The first driving unit sends carrier synchronization information and control information value to the second driving unit; When the second driving control unit drives the slave winding connected thereto, the operation of the slave winding is controlled according to the control information, and the carrier signal driving the slave winding is adjusted to be synchronous with the carrier signal driving the master winding according to the carrier synchronization information.

6. The drive control method for a multiphase motor according to claim 1, characterized by, The first driving control unit and the second driving control unit are connected through a first optical fiber and a second optical fiber; The first optical fiber is used for transmitting data from the first driving control unit to the second driving control unit, and the second optical fiber is used for transmitting data from the second driving control unit to the first driving control unit, so as to realize synchronous cascade of the first driving control unit and the second driving control unit.

7. A drive control system for a multiphase electric machine, characterized by The multi-phase motor comprises a master winding and N slave windings, N≥1, the driving control system comprises a first driving control unit and N second driving control units, the first driving control unit is connected to the master winding, and the N second driving control units are connected to the N slave windings one by one, and a communication connection is established between the first driving control unit and each second driving control unit. The driving control system is used for executing the driving control method for the multi-phase motor according to any one of claims 1-6.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to realize the driving control method for the multi-phase motor according to any one of claims 1-6.

9. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used for enabling the computer to execute the driving control method for the multi-phase motor according to any one of claims 1-6.

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