The invention discloses a six-phase
motor torque ripple suppression method and device based on control deviation compensation, and relates to the technical field of six-phase motor fault-tolerant control, and the method comprises the steps: collecting current signals of each phase, carrying out the vector space decoupling transformation, obtaining an alpha-beta subspace current, calculating the circularity of a
current vector track, and subtracting 1 from the circularity of the
current vector track to obtain a circularity deviation amplitude; a
gradient descent method is used to update the
leakage inductance parameter of the motor at the controller side on line, and the real-
time deviation compensation
voltage is calculated and superposed with the real-
time control voltage to obtain the deviation compensation control
voltage. The roundness of an alpha-beta subspace
current vector track is introduced to serve as a
torque ripple evaluation index,
leakage inductance parameters which are difficult to measure and change along with working conditions are subjected to online self-adaptive updating by adopting a
gradient descent method, compensation failure caused by inaccurate parameters is avoided, and the parameters are applied to a zero-sequence subspace to offset control deviation, so that the
torque ripple evaluation accuracy is improved. Second
harmonic current caused by control deviation can be effectively suppressed,
torque ripple is remarkably reduced, and the stability and output quality of fault-tolerant operation of the motor are improved.