CN111342730B - Fault-tolerant control method for double-stator staggered hybrid excitation type axial flux switching motor - Google Patents

Fault-tolerant control method for double-stator staggered hybrid excitation type axial flux switching motor Download PDF

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CN111342730B
CN111342730B CN202010155373.1A CN202010155373A CN111342730B CN 111342730 B CN111342730 B CN 111342730B CN 202010155373 A CN202010155373 A CN 202010155373A CN 111342730 B CN111342730 B CN 111342730B
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stator
current
motor
fault
phase
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CN111342730A (en
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徐妲
梁义文
屠逸翔
张晨丹
荆凡胜
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Nanjing Rui Tu Youte Mdt Infotech Ltd
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Nanjing University of Science and Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault

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Abstract

The invention discloses a fault-tolerant control method of a double-stator dislocation mixed excitation type axial flux switching motor. The method comprises the following steps: firstly, acquiring phase current of a motor through a current sensor, and converting the acquired phase current into a dq axis coordinate system of a rotor; then judging whether the motor is in a fault state according to the phase current, and when the motor normally operates, the exciting winding is used for regulating the speed to enable the motor to operate in a wide speed regulation range; when the motor has a fault, the excitation winding is used for fault tolerance, dq axis current is coordinated and distributed to replace fault phase output force, and the motor is operated in a fault-tolerant state on the premise of not changing non-fault phase current. The invention reduces the influence of armature winding faults on the operation of the motor and improves the safety and the reliability of a motor driving system.

Description

Fault-tolerant control method for double-stator staggered hybrid excitation type axial flux switching motor
Technical Field
The invention relates to the technical field of electric transmission, in particular to a fault-tolerant control method of a double-stator staggered hybrid excitation type axial flux switching motor.
Background
Since the 21 st century, the global energy crisis and environmental pollution have become more serious, which has prompted the transformation of many industries in the industrial field, of which the automobile industry is a typical representative. In recent years, electric vehicles and hybrid vehicles are gradually replacing traditional internal combustion vehicles, and with the continuous development of the electric vehicle industry, higher requirements are put forward on a motor body and a driving system thereof. Particularly, after the motor body fails, the motor driving system still needs to ensure safe and reliable driving of the electric vehicle, so that designing the motor body and the control system with fault tolerance capability has become a research hotspot at home and abroad.
The double-stator staggered hybrid excitation type axial flux switching motor is a novel axial magnetic field permanent magnet motor, combines the advantages of the axial magnetic field permanent magnet motor and a fault-tolerant motor, has the characteristics of short axial size, small size, high power and torque density and good fault-tolerant performance, and is suitable for direct-driven electric automobiles.
The electric automobile has a severe operating environment, and a fault-tolerant control system is arranged for the driving motor, so that the coping capability of the electric automobile in different working environments can be enhanced, and the service life of the electric automobile is prolonged. Although the provision of the fault-tolerant control system increases the design and production costs of the product at the initial stage, it may reduce the maintenance cost and the fault processing cost of the electric vehicle, which may indirectly reduce the use cost of the user. In general, this measure can improve the satisfaction of the user with the electric automobile industry, which is beneficial to the sustainable development of the whole industry. In addition, fault-tolerant control is carried out on the electric automobile, and a guarantee can be added to the personal safety of a driver and passengers. The occurrence time of the malfunction has uncertainty, and the electric vehicle does not have a condition for an emergency stop at any time, such as traveling on a highway. And the fault-tolerant control system of the driving motor can ensure that the electric automobile can still keep a certain speed and power to transfer the vehicle to a safe place after the motor fault occurs.
At present, fault-tolerant control is performed by combining a constant magnetomotive force method with an armature winding which is not in fault in a body fault-tolerant control method for a hybrid excitation type axial flux switching motor. The method comprises the following steps: when the motor has a winding fault (open circuit or short circuit), the fault-tolerant control of the motor can be effectively carried out under certain conditions by adjusting the amplitude and the phase of other non-fault phase currents, but the following two defects also exist: on the premise of keeping the rotating magnetomotive force of the motor before and after a fault as a principle, when fault-tolerant control is carried out by using a non-fault-phase armature winding, the current amplitude of a non-fault phase is increased, and when a load is large, secondary fault of the motor winding can be caused, so that the damage degree of the motor body is further increased; second, for a multi-phase motor, because the number of motor phases is large, the winding degree of freedom is high, when two-phase or multi-phase armature winding faults occur, other non-fault phases can be flexibly controlled to output power, and fault-tolerant control is convenient to realize.
Disclosure of Invention
The invention aims to provide a fault-tolerant control method of a hybrid excitation type axial flux switching motor with a wide speed regulation range and high safety performance.
The technical solution for realizing the purpose of the invention is as follows: a fault-tolerant control method for a double-stator dislocation mixed excitation type axial flux switching motor comprises the following steps:
step 1, respectively acquiring phase currents of two sets of armature windings through a current sensor;
step 2, converting the acquired phase current into a dq axis coordinate system of the rotor;
step 3, judging whether a fault occurs or not through the armature winding current, entering step 4 when the motor normally runs, and entering step 5 when the armature winding of the motor fails;
step 4, when the motor normally runs, the excitation winding is used for regulating the speed of the motor;
step 5, when the armature winding of the motor fails, the excitation winding is used for fault-tolerant control of the motor;
and 6, generating a space vector pulse width modulation signal through the stator current to drive a corresponding power converter to operate.
Further, in step 1, the current sensors respectively acquire phase currents of two sets of armature windings, which are as follows:
in a main control circuit of the motor, phase currents i of two sets of armature windings are respectively acquired and obtained through a current sensora1、ib1、ic1、ia2、ib2、ic2And detecting the initial position of the motor, sending the signal collected by the motor encoder module into a digital signal processor in a control circuit for processing to obtain the actual rotating speed n of the motor and the position angle theta of the rotore。
Further, step 2 of converting the acquired phase currents to a rotor dq axis coordinate system specifically includes the following steps:
according to the coordinate transformation principle, the acquisition is obtainedPhase current (i)a1、ib1、ic1、ia2、ib2、ic2) Converting the stator ABC coordinate system to a rotor dq axis coordinate system to respectively obtain d-axis current i of the first stator under a two-phase rotating coordinate systemd1Q-axis current iq1And d-axis current i of the second statord2Q-axis current iq2。
Further, step 3 judges whether a fault occurs through the armature winding current, and when the motor normally operates, step 4 is performed, and when the armature winding of the motor fails, step 5 is performed, specifically as follows:
step 3.1, with a given rotational speed n*Subtracting the actual measured rotating speed n of the motor encoder module, taking the obtained rotating speed deviation delta n as an input signal of a rotating speed ring PI regulator, and outputting a reference torque T after proportional and integral operatione *；
Step 3.2, reference torque Te *Inputting the actual rotating speed n into a reference current calculation module to generate corresponding reference current;
step 3.3, if the phase current i acquired by the current sensorkIf the current in one or more continuous two periods is 0 or exceeds the limit current, judging that the armature winding of the motor has a fault, otherwise, judging that the motor is in a normal state; wherein k is a1、b1、c1、a2、b2、c2；
And 3.4, entering step 4 when the motor normally runs, and entering step 5 when the armature winding of the motor breaks down.
Further, when the motor in the step 4 operates normally, the exciting winding is used for motor speed regulation, which specifically comprises the following steps:
when the motor operates normally, the motor adopts idThe control strategy is 0, the exciting winding is used for motor speed regulation, and if the reference torque T is used at the momente *Rated torque T is less than or equal toeAccording to the formula of torque calculation
Figure BDA0002403827420000031
Reference current calculating moduleThe current was output according to the following current distribution scheme:
Figure BDA0002403827420000032
wherein p is the number of teeth of the motor rotor, flux is the amplitude of the permanent magnet flux linkage of the armature winding coil linkage, iqIs the sum of the actual q-axis currents of the first stator and the second stator, iq *Is the sum of the q-axis reference currents of the first stator and the second stator, id *Is the sum of d-axis reference currents of the first stator and the second stator, if *Is the sum of the reference currents of the first stator and the second stator excitation winding, id1 *、id2 *、iq1 *、iq2 *D-axis reference current and q-axis reference current of the first stator and the second stator respectively; i.e. if1 *、if2 *Respectively a first stator excitation winding reference current and a second stator excitation winding reference current;
if reference torque Te *Rated torque TeAccording to the formula of torque calculation
Figure BDA0002403827420000033
At the moment, the reference current calculation module outputs current according to the following current distribution scheme:
Figure BDA0002403827420000041
wherein iqNRated value for q-axis current, MsfThe mutual inductance amplitude of the armature winding and the excitation winding is obtained.
Further, when the armature winding of the motor fails in step 5, the field winding is used for fault-tolerant control of the motor, which is specifically as follows:
when the armature winding of the motor fails, i is adopteddThe control strategy is 0, and the excitation winding is used for fault-tolerant control of the motor;
under the normal operation state of the motor, the phase current expression is as follows:
Figure BDA0002403827420000042
the motor magnetomotive force TMMF expression is as follows:
TMMF＝MMFa+MMFb+MMFc
＝Nia1+αNib1+α2Nic1+βNia2+αβNib2+α2βNic2
wherein θ is an electrical angle, ImFor the amplitude of the phase current, α is 1 ═ 120 °, and is used to characterize b1、b2Phase sum c1、c2Phase is spatially opposite to a1、a2The position of the phase, beta is 1 & lt 90 deg., used for representing the corresponding armature winding dislocation 90 deg. mechanical angle on the two stators, MMFa、MMFb、MMFcThree-phase magnetomotive force respectively, and N is the number of turns of an armature winding;
a of the first stator of the motor1When the winding is in open circuit fault, on the premise that the non-fault phase current is not changed, the phase current expression is as follows:
Figure BDA0002403827420000051
the motor magnetomotive force TMMF' expression is as follows:
TMMF'＝MMFa+MMFb+MMFc
＝αNib1+α2Nic1+βNia2+αβNib2+α2βNic2
according to the topological structure of the double-stator staggered hybrid excitation type axial flux switching motor, if a is used1The space position of the phase armature winding is used as a reference, the anticlockwise direction is a positive direction, and each excitation coil on the first stator is respectively connected with a1The phase difference of the windings is respectively 30 degrees, 90 degrees, 150 degrees, 210 degrees, 270 degrees and 330 degrees in space; at the same time, a closed circuit can be formed for the excitation currentDividing 6 excitation coils into 3 groups, recording a1Two excitation coils with a phase space position difference of 30 degrees and 210 degrees are set as a group 1, and the magnitude of the magnetomotive force generated after the electrification is MMFf1(ii) a Two coils with 90-degree and 270-degree difference are set as a group 2, and the magnitude of the magnetomotive force generated after the electrification is MMFf2(ii) a The two coils with the phase difference of 150 degrees and 330 degrees are set as a group 3, and the magnitude of the magnetomotive force generated after the power is on is MMFf3；
If the same sine current is conducted to all the 3 groups of exciting coils of the first stator, the magnetomotive force generated by each group of exciting coils is respectively as follows:
Figure BDA0002403827420000052
wherein N is1The number of turns for each field coil;
at this time, the magnetomotive force expression of the whole first stator excitation winding is as follows:
Figure BDA0002403827420000053
from the above calculation results, if currents with the same magnitude are simultaneously introduced into 3 groups of excitation coils of the first stator, the synthesized excitation magnetomotive force is zero, and at this time, a circular rotating magnetic field cannot be formed, so that 1 group or 2 groups of excitation windings need to be selected to be introduced;
is distributed in a selective space position1Two groups of exciting coils of the group 1 and the group 2 on two sides of the winding are electrified, and meanwhile, in order to offset imaginary components in the magnetomotive force of the group 1 and the group 2, the two groups of exciting coils are reversely connected in series, and the synthesized magnetomotive force expression is as follows:
Figure BDA0002403827420000061
if the excitation winding is used for replacing the fault phase output, when the magnetomotive force generated by the excitation winding is equal to the magnetomotive force generated before the fault phase fault, the following steps are performed:
Figure BDA0002403827420000062
therefore, the excitation windings are solved to generate the magnetomotive force with the same size, and the required current is as follows:
Figure BDA0002403827420000063
at this time, the magnitude of each current output by the reference current calculation module is as follows:
Figure BDA0002403827420000064
further, step 6, generating a space vector pulse width modulation signal through the stator current to drive the corresponding power converter to operate, specifically as follows:
step 6.1, the dq-axis reference current i of the first stator and the second stator generated by the reference current calculation moduled1 *、iq1 *、id2 *、iq2 *Respectively comparing the actual current i with the dq-axis actual current i of the first stator and the second stator obtained by coordinate transformation in the step 2d1、iq1、id2、iq2Subtracting to obtain the dq-axis current deviation delta i of the first stator and the second statord1、Δiq1、Δid2、Δiq2；
6.2, deviating the d-axis current of the first stator and the second stator by delta id1、Δid2Respectively sent to respective d-axis current PI regulators, and subjected to proportional and integral operations to obtain d-axis voltages u of the first stator and the second statord1And ud2；
Step 6.3, deviating the q-axis current of the first stator and the second stator by delta iq1、Δiq2Respectively sending the voltage signals into respective q-axis current PI regulators, and obtaining q-axis voltage u of the first stator and the second stator after proportional and integral operationsq1And uq2；
Step 6.4, dq-axis voltage u of the first stator and the second stator respectivelyd1、uq1、ud2、uq2Carrying out transformation of a two-phase orthogonal rotating coordinate system and a two-phase static coordinate system to obtain alpha and beta axis voltage u of the first stator under the two-phase static coordinate systemα1、uβ1And α β axis voltage u of the second statorα2、uβ2；
Step 6.5, the alpha and beta axis voltage u of the first stator is measuredα1、uβ1The pulse width modulation signals are sent to a pulse width modulation module of the first stator, 6 paths of pulse width modulation signals are operated and output, and a main power converter of the first stator is driven to operate;
step 6.6, the alpha and beta axis voltage u of the second statorα2、uβ2The pulse width modulation signals are sent to a pulse width modulation module of the second stator, 6 paths of pulse width modulation signals are operated and output, and a main power converter of the second stator is driven to operate;
6.7, the first stator and the second stator exciting current reference value if1 *And if2 *Respectively sent to excitation pulse width modulation modules 1 and 2 to drive excitation power converters 1 and 2 to operate.
Compared with the prior art, the invention has the remarkable advantages that: (1) the double-stator staggered hybrid excitation type axial flux switching motor can operate in a fault-tolerant state, and the safety performance of the motor armature winding in a fault state is improved; (2) the fault tolerance is realized on the premise of not changing the non-fault phase current, so that the risk that the non-fault phase current is increased and the secondary fault of the motor is possibly caused when only an armature winding is adopted for fault tolerance is avoided; (3) the problem of multi-phase winding faults which are difficult to solve only by using an armature winding is solved, and the safety and the reliability of a motor driving system are improved.
Drawings
Fig. 1 is a topological structure diagram of a double-stator misaligned hybrid excitation type axial flux switching motor.
Fig. 2 is a schematic diagram of a fault-tolerant control method of a double-stator malposed hybrid excitation type axial flux switching motor of the present invention.
Fig. 3 is a flowchart of a fault-tolerant control method of a double-stator malposition hybrid excitation type axial flux switching motor according to the present invention.
Fig. 4 is a system diagram of a fault-tolerant control method of a double-stator malposition hybrid excitation type axial flux switching motor of the present invention.
Detailed Description
The invention discloses a fault-tolerant control method of a double-stator staggered hybrid excitation type axial flux switching motor, which comprises the following steps of:
step 1, respectively acquiring phase currents of two sets of armature windings through a current sensor;
step 2, converting the acquired phase current into a dq axis coordinate system of the rotor;
step 3, judging whether a fault occurs or not through the armature winding current, entering step 4 when the motor normally runs, and entering step 5 when the armature winding of the motor fails;
step 4, when the motor normally runs, the excitation winding is used for regulating the speed of the motor;
step 5, when the armature winding of the motor fails, the excitation winding is used for fault-tolerant control of the motor;
and 6, generating a space vector pulse width modulation signal through the stator current to drive a corresponding power converter to operate.
As a specific example, the phase currents of the two sets of armature windings are respectively collected by the current sensors in step 1, which is as follows:
in a main control circuit of the motor, phase currents i of two sets of armature windings are respectively acquired and obtained through a current sensora1、ib1、ic1、ia2、ib2、ic2And detecting the initial position of the motor, sending the signal collected by the motor encoder module into a digital signal processor in a control circuit for processing to obtain the actual rotating speed n of the motor and the position angle theta of the rotore。
As a specific example, the step 2 of converting the acquired phase currents to the dq axis coordinate system of the rotor is as follows:
according to the coordinate transformation principle, the acquired phase current (i)a1、ib1、ic1、ia2、ib2、ic2) Converting the stator ABC coordinate system to a rotor dq axis coordinate system to respectively obtain d-axis current i of the first stator under a two-phase rotating coordinate systemd1Q-axis current iq1And d-axis current i of the second statord2Q-axis current iq2。
As a specific example, the step 3 of determining whether a fault occurs through the armature winding current, and when the motor operates normally, the step 4 is performed, and when the armature winding of the motor fails, the step 5 is performed, specifically as follows:
step 3.1, with a given rotational speed n*Subtracting the actual measured rotating speed n of the motor encoder module, taking the obtained rotating speed deviation delta n as an input signal of a rotating speed ring PI regulator, and outputting a reference torque T after proportional and integral operatione *；
Step 3.2, reference torque Te *Inputting the actual rotating speed n into a reference current calculation module to generate corresponding reference current;
step 3.3, if the phase current i acquired by the current sensorkIf the current in one or more continuous two periods is 0 or exceeds the limit current, judging that the armature winding of the motor has a fault, otherwise, judging that the motor is in a normal state; wherein k is a1、b1、c1、a2、b2、c2；
And 3.4, entering step 4 when the motor normally runs, and entering step 5 when the armature winding of the motor breaks down.
As a specific example, when the motor in step 4 operates normally, the excitation winding is used for speed regulation of the motor, which is specifically as follows:
when the motor operates normally, the motor adopts idThe control strategy is 0, the exciting winding is used for motor speed regulation, and if the reference torque T is used at the momente *Rated torque T is less than or equal toeAccording to the formula of torque calculation
Figure BDA0002403827420000081
The reference current calculation module is powered as followsCurrent distribution scheme output current:
Figure BDA0002403827420000091
wherein p is the number of teeth of the motor rotor, flux is the amplitude of the permanent magnet flux linkage of the armature winding coil linkage, iqIs the sum of the actual q-axis currents of the first stator and the second stator, iq *Is the sum of the q-axis reference currents of the first stator and the second stator, id *Is the sum of d-axis reference currents of the first stator and the second stator, if *Is the sum of the reference currents of the first stator and the second stator excitation winding, id1 *、id2 *、iq1 *、iq2 *D-axis reference current and q-axis reference current of the first stator and the second stator respectively; i.e. if1 *、if2 *Respectively a first stator excitation winding reference current and a second stator excitation winding reference current;
if reference torque Te *Rated torque TeAccording to the formula of torque calculation
Figure BDA0002403827420000092
At the moment, the reference current calculation module outputs current according to the following current distribution scheme:
Figure BDA0002403827420000093
wherein iqNRated value for q-axis current, MsfThe mutual inductance amplitude of the armature winding and the excitation winding is obtained.
As a specific example, when the armature winding of the motor fails in step 5, the field winding is used for fault-tolerant control of the motor, which is specifically as follows:
when the armature winding of the motor fails, i is adopteddThe control strategy is 0, and the excitation winding is used for fault-tolerant control of the motor;
under the normal operation state of the motor, the phase current expression is as follows:
Figure BDA0002403827420000101
the motor magnetomotive force TMMF expression is as follows:
TMMF＝MMFa+MMFb+MMFc
＝Nia1+αNib1+α2Nic1+βNia2+αβNib2+α2βNic2
wherein θ is an electrical angle, ImFor the amplitude of the phase current, α is 1 ═ 120 °, and is used to characterize b1、b2Phase sum c1、c2Phase is spatially opposite to a1、a2The position of the phase, beta is 1 & lt 90 deg., used for representing the corresponding armature winding dislocation 90 deg. mechanical angle on the two stators, MMFa、MMFb、MMFcThree-phase magnetomotive force respectively, and N is the number of turns of an armature winding;
a of the first stator of the motor1When the winding is in open circuit fault, on the premise that the non-fault phase current is not changed, the phase current expression is as follows:
Figure BDA0002403827420000102
the motor magnetomotive force TMMF' expression is as follows:
TMMF'＝MMFa+MMFb+MMFc
＝αNib1+α2Nic1+βNia2+αβNib2+α2βNic2
according to the topological structure of the double-stator staggered hybrid excitation type axial flux switching motor, if a is used1The space position of the phase armature winding is used as a reference, the anticlockwise direction is a positive direction, and each excitation coil on the first stator is respectively connected with a1The phase difference of the windings is respectively 30 degrees, 90 degrees, 150 degrees, 210 degrees, 270 degrees and 330 degrees in space; at the same time, a closed loop can be formed for the excitation currentThe 6 excitation coils are divided into 3 groups, and are recorded as a1Two excitation coils with a phase space position difference of 30 degrees and 210 degrees are set as a group 1, and the magnitude of the magnetomotive force generated after the electrification is MMFf1(ii) a Two coils with 90-degree and 270-degree difference are set as a group 2, and the magnitude of the magnetomotive force generated after the electrification is MMFf2(ii) a The two coils with the phase difference of 150 degrees and 330 degrees are set as a group 3, and the magnitude of the magnetomotive force generated after the power is on is MMFf3；
If the same sine current is conducted to all the 3 groups of exciting coils of the first stator, the magnetomotive force generated by each group of exciting coils is respectively as follows:
Figure BDA0002403827420000111
wherein N is1The number of turns for each field coil;
at this time, the magnetomotive force expression of the whole first stator excitation winding is as follows:
Figure BDA0002403827420000112
from the above calculation results, if currents with the same magnitude are simultaneously introduced into 3 groups of excitation coils of the first stator, the synthesized excitation magnetomotive force is zero, and at this time, a circular rotating magnetic field cannot be formed, so that 1 group or 2 groups of excitation windings need to be selected to be introduced;
is distributed in a selective space position1Two groups of exciting coils of the group 1 and the group 2 on two sides of the winding are electrified, and meanwhile, in order to offset imaginary components in the magnetomotive force of the group 1 and the group 2, the two groups of exciting coils are reversely connected in series, and the synthesized magnetomotive force expression is as follows:
Figure BDA0002403827420000113
if the excitation winding is used for replacing the fault phase output, when the magnetomotive force generated by the excitation winding is equal to the magnetomotive force generated before the fault phase fault, the following steps are performed:
Figure BDA0002403827420000114
therefore, the excitation windings are solved to generate the magnetomotive force with the same size, and the required current is as follows:
Figure BDA0002403827420000115
at this time, the magnitude of each current output by the reference current calculation module is as follows:
Figure BDA0002403827420000121
as a specific example, the step 6 of generating the space vector pulse width modulation signal through the stator current drives the corresponding power converter to operate as follows:
step 6.1, the dq-axis reference current i of the first stator and the second stator generated by the reference current calculation moduled1 *、iq1 *、id2 *、iq2 *Respectively comparing the actual current i with the dq-axis actual current i of the first stator and the second stator obtained by coordinate transformation in the step 2d1、iq1、id2、iq2Subtracting to obtain the dq-axis current deviation delta i of the first stator and the second statord1、Δiq1、Δid2、Δiq2；
6.2, deviating the d-axis current of the first stator and the second stator by delta id1、Δid2Respectively sent to respective d-axis current PI regulators, and subjected to proportional and integral operations to obtain d-axis voltages u of the first stator and the second statord1And ud2；
Step 6.3, deviating the q-axis current of the first stator and the second stator by delta iq1、Δiq2Respectively sending the voltage signals into respective q-axis current PI regulators, and obtaining q-axis voltage u of the first stator and the second stator after proportional and integral operationsq1And uq2；
Step 6.4, dq-axis voltage u of the first stator and the second stator respectivelyd1、uq1、ud2、uq2Carrying out transformation of a two-phase orthogonal rotating coordinate system and a two-phase static coordinate system to obtain alpha and beta axis voltage u of the first stator under the two-phase static coordinate systemα1、uβ1And α β axis voltage u of the second statorα2、uβ2；
Step 6.5, the alpha and beta axis voltage u of the first stator is measuredα1、uβ1The pulse width modulation signals are sent to a pulse width modulation module of the first stator, 6 paths of pulse width modulation signals are operated and output, and a main power converter of the first stator is driven to operate;
step 6.6, the alpha and beta axis voltage u of the second statorα2、uβ2The pulse width modulation signals are sent to a pulse width modulation module of the second stator, 6 paths of pulse width modulation signals are operated and output, and a main power converter of the second stator is driven to operate;
6.7, the first stator and the second stator exciting current reference value if1 *And if2 *Respectively sent to excitation pulse width modulation modules 1 and 2 to drive excitation power converters 1 and 2 to operate.
The invention is described in further detail below with reference to the figures and the specific embodiments.
Examples
The embodiment is a fault-tolerant control method for a double-stator dislocation mixed excitation type axial flux switching motor, and the topological structure of the motor is shown in fig. 1. The motor comprises a first stator 1, a second stator 3 and a rotor 2, wherein the first stator and the second stator are coaxially arranged, the rotor 2 is positioned between the two stators and has an air gap with the stators, and the two stators have the same structure but are arranged at a spatial position by a mechanical angle of 90 degrees in a staggered mode. Each stator comprises a plurality of magnetic conductive iron cores 4, permanent magnets 5, armature windings 6 and excitation windings 7 which are arranged alternately. The magnetic conductive iron core 4 adopts an U, E combined structure, so that the magnetic resistance of an excitation magnetic circuit is reduced, the effective excitation area is increased, and the magnetic regulation range of the motor is improved; the permanent magnets 5 adopt a parallel permanent magnet tangential magnetizing structure, and the magnetizing directions of the adjacent permanent magnets are opposite; the armature winding 6 is wound on two adjacent stator teeth; the excitation winding 7 is wound at the root position of U, E combined stator teeth. The rotor 2 comprises a magnetic isolation disc 8 and symmetrical rotor cores 9 arranged on two sides of the magnetic isolation disc 8, and each rotor core 9 comprises a plurality of rotor teeth and a magnetic guiding bridge connected with the rotor teeth. The rotor 2 has no permanent magnet or winding, and has simple structure and reliable operation. Two iron cores of the rotor are separated by adopting a non-magnetic-conductive material, so that decoupling of two stator magnetic circuits is realized, and the fault-tolerant operation capability of the motor is improved.
In order to realize the fault-tolerant operation of the motor, the motor adopts a double three-phase inverter bridge and a double two-phase full bridge for control. Defining the three-phase winding of the first stator as a1、b1、c1Phase, the three-phase winding of the second stator being defined as a2、b2、c2And (4) phase(s). And the armature windings on the first stator and the second stator are respectively controlled by two three-phase inverter bridges. Two-phase full bridges are used to control the field windings on the first stator and the second stator.
With reference to fig. 2 to 4, the fault-tolerant control method for the dual-stator staggered hybrid excitation type axial flux switching motor of the present embodiment includes the following steps:
step 1, respectively acquiring phase currents of two sets of armature windings through a current sensor, wherein the method specifically comprises the following steps:
in a main control circuit of the motor, phase currents i of two sets of armature windings are acquired through six Hall current sensors respectivelya1、ib1、ic1、ia2、ib2、ic2And detecting the initial position of the motor, sending the signal collected by the motor encoder module into a digital signal processor in a control circuit for processing to obtain the actual rotating speed n of the motor and the position angle theta of the rotore。
Step 2, converting the acquired phase current to a rotor dq axis coordinate system, which is specifically as follows:
according to the coordinate transformation principle, the acquired phase current (i)a1、ib1、ic1、ia2、ib2、ic2) Through park transformation, the coordinate system from the stator ABC to the dq axis of the rotor is realizedConverting the standard system to obtain d-axis current i of the first stator under the two-phase rotating coordinate systemd1Q-axis current iq1And d-axis current i of the second statord2Q-axis current iq2。
Step 3, judging whether a fault occurs through the armature winding current, entering step 4 when the motor operates normally, and entering step 5 when the armature winding of the motor fails, wherein the steps are as follows:
step 3.1, with a given rotational speed n*Subtracting the actual measured rotating speed n of the motor encoder module, taking the obtained rotating speed deviation delta n as an input signal of a rotating speed ring PI regulator, and outputting a reference torque T after proportional and integral operatione *；
Step 3.2, reference torque Te *Inputting the actual rotating speed n into a reference current calculation module to generate corresponding reference current;
step 3.3, if the phase current i acquired by the current sensorkIf the current in one or more continuous two periods is 0 or exceeds the limit current, judging that the armature winding of the motor has a fault, otherwise, judging that the motor is in a normal state; wherein k is a1、b1、c1、a2、b2、c2；
And 3.4, entering step 4 when the motor normally runs, and entering step 5 when the armature winding of the motor breaks down.
And 4, when the motor normally runs, the exciting winding is used for regulating the speed of the motor, and the method specifically comprises the following steps:
when the motor operates normally, the motor adopts idThe control strategy is 0, the exciting winding is used for motor speed regulation, and if the reference torque T is used at the momente *Rated torque T is less than or equal toeAccording to the formula of torque calculation
Figure BDA0002403827420000141
The reference current calculation module outputs current according to the following current distribution scheme:
Figure BDA0002403827420000142
wherein p is the number of teeth of the motor rotor, flux is the amplitude of the permanent magnet flux linkage of the armature winding coil linkage, iqIs the sum of the actual q-axis currents of the first stator and the second stator, iq *Is the sum of the q-axis reference currents of the first stator and the second stator, id *Is the sum of d-axis reference currents of the first stator and the second stator, if *Is the sum of the reference currents of the first stator and the second stator excitation winding, id1 *、id2 *、iq1 *、iq2 *D-axis reference current and q-axis reference current of the first stator and the second stator respectively; i.e. if1 *、if2 *Respectively a first stator excitation winding reference current and a second stator excitation winding reference current;
if reference torque Te *Rated torque TeAccording to the formula of torque calculation
Figure BDA0002403827420000151
The reference current calculation module outputs current according to the following current distribution scheme:
Figure BDA0002403827420000152
wherein iqNRated value for q-axis current, MsfThe mutual inductance amplitude of the armature winding and the excitation winding is obtained.
Step 5, when the armature winding of the motor fails, the excitation winding is used for fault-tolerant control of the motor, and the method specifically comprises the following steps:
when the motor fails, i is still adopteddThe control strategy is 0, and the excitation winding is used for fault-tolerant control of the motor;
under the normal operation state of the motor, the phase current expression is as follows:
Figure BDA0002403827420000153
the motor magnetomotive force TMMF expression is as follows:
TMMF＝MMFa+MMFb+MMFc
＝Nia1+αNib1+α2Nic1+βNia2+αβNib2+α2βNic2
wherein θ is an electrical angle, ImFor the amplitude of the phase current, α is 1 ═ 120 °, and is used to characterize b1、b2Phase sum c1、c2Phase is spatially opposite to a1、a2The position of the phase, beta is 1 & lt 90 deg., used for representing the corresponding armature winding dislocation 90 deg. mechanical angle on the two stators, MMFa、MMFb、MMFcThree-phase magnetomotive force respectively, and N is the number of turns of an armature winding;
a of the first stator of the motor1When the winding is in open circuit fault, on the premise that the non-fault phase current is not changed, the phase current expression is as follows:
Figure BDA0002403827420000161
the motor magnetomotive force TMMF' expression is as follows:
TMMF'＝MMFa+MMFb+MMFc
＝αNib1+α2Nic1+βNia2+αβNib2+α2βNic2
wherein θ is an electrical angle, ImFor the amplitude of the phase current, α is 1 ═ 120 °, and is used to characterize b1、b2Phase sum c1、c2Phase is spatially opposite to a1、a2The position of the phase, beta is 1 & lt 90 deg., used for representing the corresponding armature winding dislocation 90 deg. mechanical angle on the two stators, MMFa、MMFb、MMFcThree-phase magnetomotive force respectively, and N is the number of turns of an armature winding;
according to the topological structure of the double-stator staggered hybrid excitation type axial flux switching motor, if a is used1Phase armatureThe space position of the winding is used as a reference, the anticlockwise direction is the positive direction, and each excitation coil on the first stator is respectively connected with a1The phase difference of the windings is respectively 30 degrees, 90 degrees, 150 degrees, 210 degrees, 270 degrees and 330 degrees in space; meanwhile, in order to form a closed loop by the exciting current, the exciting coil is divided into 3 groups, and the groups are recorded as a1Two excitation coils with a phase space position difference of 30 degrees and 210 degrees are set as a group 1, and the magnitude of the magnetomotive force generated after the electrification is MMFf1(ii) a Two coils with 90-degree and 270-degree difference are set as a group 2, and the magnitude of the magnetomotive force generated after the electrification is MMFf2(ii) a The two coils with the phase difference of 150 degrees and 330 degrees are set as a group 3, and the magnitude of the magnetomotive force generated after the power is on is MMFf3；
If the same sine current is conducted to all the 3 groups of exciting coils of the first stator, the magnetomotive force generated by each group of exciting coils is respectively as follows:
Figure BDA0002403827420000162
wherein N is1The number of turns for each field coil;
at this time, the magnetomotive force expression of the whole first stator excitation winding is as follows:
Figure BDA0002403827420000171
from the above calculation results, if currents with the same magnitude are simultaneously introduced into 3 groups of excitation coils of the first stator, the synthesized excitation magnetomotive force is zero, and at this time, a circular rotating magnetic field cannot be formed, so that 1 group or 2 groups of excitation windings need to be selected to be supplied with electricity;
in order to reduce the influence on the non-fault phase and form a circular rotary magnetomotive force, the spatial positions are selected to be distributed on a1Two groups of exciting coils of the group 1 and the group 2 on two sides of the winding are electrified, and meanwhile, in order to offset imaginary components in the magnetomotive force of the group 1 and the group 2, the two groups of exciting coils are reversely connected in series, and the synthesized magnetomotive force expression is as follows:
Figure BDA0002403827420000172
if the excitation winding is used for replacing the fault phase output, when the magnetomotive force generated by the excitation winding is equal to the magnetomotive force generated before the fault phase fault, the following steps are performed:
Figure BDA0002403827420000173
therefore, the excitation winding can be solved to generate the magnetomotive force with the same size, and the required current to be introduced is as follows:
Figure BDA0002403827420000174
at this time, the magnitude of each current output by the reference current calculation module is as follows:
Figure BDA0002403827420000175
and 6, generating a space vector pulse width modulation signal through the stator current to drive a corresponding power converter to operate, wherein the space vector pulse width modulation signal comprises the following specific steps:
step 6.1, the dq-axis reference current i of the first stator and the second stator generated by the reference current calculation moduled1 *、iq1 *、id2 *、iq2 *Respectively comparing the actual current i with the dq-axis actual current i of the first stator and the second stator obtained by coordinate transformation in the step 2d1、iq1、id2、iq2Subtracting to obtain the dq-axis current deviation delta i of the first stator and the second statord1、Δiq1、Δid2、Δiq2；
6.2, deviating the d-axis current of the first stator and the second stator by delta id1、Δid2Respectively sent to respective d-axis current PI regulators, and subjected to proportional and integral operations to obtain d-axis voltages u of the first stator and the second statord1And ud2；
Step 6.3, deviating the q-axis current of the first stator and the second stator by delta iq1、Δiq2Respectively sending the voltage signals into respective q-axis current PI regulators, and obtaining q-axis voltage u of the first stator and the second stator after proportional and integral operationsq1And uq2；
Step 6.4, dq-axis voltage u of the first stator and the second stator respectivelyd1、uq1、ud2、uq2Carrying out transformation of a two-phase orthogonal rotating coordinate system and a two-phase static coordinate system to obtain alpha and beta axis voltage u of the first stator under the two-phase static coordinate systemα1、uβ1And α β axis voltage u of the second statorα2、uβ2；
Step 6.5, the alpha and beta axis voltage u of the first stator is measuredα1、uβ1The pulse width modulation signals are sent to a pulse width modulation module of the first stator, 6 paths of pulse width modulation signals are operated and output, and a main power converter of the first stator is driven to operate;
step 6.6, the alpha and beta axis voltage u of the second statorα2、uβ2The pulse width modulation signals are sent to a pulse width modulation module of the second stator, 6 paths of pulse width modulation signals are operated and output, and a main power converter of the second stator is driven to operate;
6.7, the first stator and the second stator exciting current reference value if1 *And if2 *Respectively sent to excitation pulse width modulation modules 1 and 2 to drive excitation power converters 1 and 2 to operate.
The double-stator staggered hybrid excitation type axial flux switching motor can operate in a fault-tolerant state, and the safety performance of the motor armature winding in a fault state is improved; the fault tolerance is realized on the premise of not changing the non-fault phase current, so that the risk that the non-fault phase current is increased and the secondary fault of the motor is possibly caused when only an armature winding is adopted for fault tolerance is avoided; the problem of multi-phase winding faults which are difficult to solve only by using an armature winding is solved, and the safety and the reliability of a motor driving system are improved.

Claims (5)

1. A fault-tolerant control method for a double-stator dislocation mixed excitation type axial flux switching motor is characterized by comprising the following steps:
step 1, respectively acquiring phase currents of two sets of armature windings through a current sensor;
step 2, converting the acquired phase current into a dq axis coordinate system of the rotor;
step 3, judging whether a fault occurs or not through the armature winding current, entering step 4 when the motor normally runs, and entering step 5 when the armature winding of the motor fails;
step 4, when the motor normally runs, the exciting winding is used for regulating the speed of the motor, and the method specifically comprises the following steps:
when the motor operates normally, the motor adopts idThe control strategy is 0, the exciting winding is used for motor speed regulation, and if the reference torque T is used at the momente *Rated torque T is less than or equal toeAccording to the formula of torque calculation
Figure FDA0003027331700000011
The reference current calculation module outputs current according to the following current distribution scheme:
Figure FDA0003027331700000012
wherein p is the number of teeth of the motor rotor, flux is the amplitude of the permanent magnet flux linkage of the armature winding coil linkage, iqIs the sum of the actual q-axis currents of the first stator and the second stator, iq *Is the sum of the q-axis reference currents of the first stator and the second stator, id *Is the sum of d-axis reference currents of the first stator and the second stator, if *Is the sum of the reference currents of the first stator and the second stator excitation winding, id1 *、id2 *、iq1 *、iq2 *D-axis reference current and q-axis reference current of the first stator and the second stator respectively; i.e. if1 *、if2 *Respectively a first stator excitation winding reference current and a second stator excitation winding reference current;
if reference torque Te *Rated torque TeAccording to the formula of torque calculation
Figure FDA0003027331700000013
At the moment, the reference current calculation module outputs current according to the following current distribution scheme:
Figure FDA0003027331700000021
wherein iqNRated value for q-axis current, MsfThe mutual inductance amplitude of the armature winding and the excitation winding is obtained;
step 5, when the armature winding of the motor fails, the excitation winding is used for fault-tolerant control of the motor, and the method specifically comprises the following steps:
when the armature winding of the motor fails, i is adopteddThe control strategy is 0, and the excitation winding is used for fault-tolerant control of the motor;
under the normal operation state of the motor, the phase current expression is as follows:
Figure FDA0003027331700000022
the motor magnetomotive force TMMF expression is as follows:
TMMF＝MMFa+MMFb+MMFc
＝Nia1+αNib1+α2Nic1+βNia2+αβNib2+α2βNic2
wherein θ is an electrical angle, ImFor the amplitude of the phase current, α is 1 ═ 120 °, and is used to characterize b1、b2Phase sum c1、c2Phase is spatially opposite to a1、a2The position of the phase, beta is 1 & lt 90 deg., used for representing the corresponding armature winding dislocation 90 deg. mechanical angle on the two stators, MMFa、MMFb、MMFcThree-phase magnetomotive force respectively, and N is the number of turns of an armature winding;
a of the first stator of the motor1When the winding is in open circuit fault, on the premise that the non-fault phase current is not changed, the phase current expression is as follows:
Figure FDA0003027331700000031
the motor magnetomotive force TMMF' expression is as follows:
TMMF'＝MMFa+MMFb+MMFc
＝αNib1+α2Nic1+βNia2+αβNib2+α2βNic2
according to the topological structure of the double-stator staggered hybrid excitation type axial flux switching motor, if a is used1The space position of the phase armature winding is used as a reference, the anticlockwise direction is a positive direction, and each excitation coil on the first stator is respectively connected with a1The phase difference of the windings is respectively 30 degrees, 90 degrees, 150 degrees, 210 degrees, 270 degrees and 330 degrees in space; meanwhile, in order to form a closed loop by the exciting current, 6 exciting coils are divided into 3 groups, and the groups are recorded as a1Two excitation coils with a phase space position difference of 30 degrees and 210 degrees are set as a group 1, and the magnitude of the magnetomotive force generated after the electrification is MMFf1(ii) a Two coils with 90-degree and 270-degree difference are set as a group 2, and the magnitude of the magnetomotive force generated after the electrification is MMFf2(ii) a The two coils with the phase difference of 150 degrees and 330 degrees are set as a group 3, and the magnitude of the magnetomotive force generated after the power is on is MMFf3；
If the same sine current is conducted to all the 3 groups of exciting coils of the first stator, the magnetomotive force generated by each group of exciting coils is respectively as follows:
Figure FDA0003027331700000032
wherein N is1The number of turns for each field coil;
at this time, the magnetomotive force expression of the whole first stator excitation winding is as follows:
Figure FDA0003027331700000033
from the above calculation results, if currents with the same magnitude are simultaneously introduced into 3 groups of excitation coils of the first stator, the synthesized excitation magnetomotive force is zero, and at this time, a circular rotating magnetic field cannot be formed, so that 1 group or 2 groups of excitation windings need to be selected to be introduced;
is distributed in a selective space position1Two groups of exciting coils of the group 1 and the group 2 on two sides of the winding are electrified, and meanwhile, in order to offset imaginary components in the magnetomotive force of the group 1 and the group 2, the two groups of exciting coils are reversely connected in series, and the synthesized magnetomotive force expression is as follows:
Figure FDA0003027331700000041
if the excitation winding is used for replacing the fault phase output, when the magnetomotive force generated by the excitation winding is equal to the magnetomotive force generated before the fault phase fault, the following steps are performed:
Figure FDA0003027331700000042
therefore, the excitation windings are solved to generate the magnetomotive force with the same size, and the required current is as follows:
Figure FDA0003027331700000043
at this time, the magnitude of each current output by the reference current calculation module is as follows:
Figure FDA0003027331700000044
and 6, generating a space vector pulse width modulation signal through the stator current to drive a corresponding power converter to operate.
2. The fault-tolerant control method of the double-stator malposition hybrid excitation type axial flux switching motor according to claim 1, wherein the phase currents of the two sets of armature windings are respectively acquired by the current sensor in the step 1, and the method specifically comprises the following steps:
in a main control circuit of the motor, phase currents i of two sets of armature windings are respectively acquired and obtained through a current sensora1、ib1、ic1、ia2、ib2、ic2And detecting the initial position of the motor, sending the signal collected by the motor encoder module into a digital signal processor in a control circuit for processing to obtain the actual rotating speed n of the motor and the position angle theta of the rotore。
3. The fault-tolerant control method for the double-stator malposition hybrid excitation type axial flux switching motor according to claim 1, wherein the step 2 of converting the collected phase current to a rotor dq axis coordinate system specifically comprises the following steps:
according to the coordinate transformation principle, the acquired phase current i is processeda1、ib1、ic1、ia2、ib2、ic2Converting the stator ABC coordinate system to a rotor dq axis coordinate system to respectively obtain d-axis current i of the first stator under a two-phase rotating coordinate systemd1Q-axis current iq1And d-axis current i of the second statord2Q-axis current iq2。
4. The fault-tolerant control method of the double-stator staggered hybrid excitation type axial flux switching motor according to claim 1, wherein step 3 is to determine whether a fault occurs through armature winding current, and when the motor normally operates, the step 4 is performed, and when the armature winding of the motor fails, the step 5 is performed, specifically as follows:
step 3.1, with a given rotational speed n*Subtracting the actual measured rotating speed n of the motor encoder module, and taking the obtained rotating speed deviation delta n as the input signal of the rotating speed loop PI regulatorThe reference torque T is output after proportional and integral operatione *；
Step 3.2, reference torque Te *Inputting the actual rotating speed n into a reference current calculation module to generate corresponding reference current;
step 3.3, if the phase current i acquired by the current sensorkIf the current in one or more continuous two periods is 0 or exceeds the limit current, judging that the armature winding of the motor has a fault, otherwise, judging that the motor is in a normal state; wherein k is a1、b1、c1、a2、b2、c2；
And 3.4, entering step 4 when the motor normally runs, and entering step 5 when the armature winding of the motor breaks down.
5. The fault-tolerant control method for the double-stator malposition hybrid excitation type axial flux switching motor according to claim 1, wherein the step 6 is to generate a space vector pulse width modulation signal through the stator current to drive the corresponding power converter to operate, and specifically comprises the following steps:
step 6.1, the dq-axis reference current i of the first stator and the second stator generated by the reference current calculation moduled1 *、iq1 *、id2 *、iq2 *Respectively comparing the actual current i with the dq-axis actual current i of the first stator and the second stator obtained by coordinate transformation in the step 2d1、iq1、id2、iq2Subtracting to obtain the dq-axis current deviation delta i of the first stator and the second statord1、Δiq1、Δid2、Δiq2；
6.2, deviating the d-axis current of the first stator and the second stator by delta id1、Δid2Respectively sent to respective d-axis current PI regulators, and subjected to proportional and integral operations to obtain d-axis voltages u of the first stator and the second statord1And ud2；
Step 6.3, deviating the q-axis current of the first stator and the second stator by delta iq1、Δiq2Are respectively sent into eachObtaining q-axis voltage u of the first stator and the second stator from a q-axis current PI regulator through proportional and integral operationq1And uq2；
Step 6.4, dq-axis voltage u of the first stator and the second stator respectivelyd1、uq1、ud2、uq2Carrying out transformation of a two-phase orthogonal rotating coordinate system and a two-phase static coordinate system to obtain alpha and beta axis voltage u of the first stator under the two-phase static coordinate systemα1、uβ1And α β axis voltage u of the second statorα2、uβ2；
Step 6.5, the alpha and beta axis voltage u of the first stator is measuredα1、uβ1The pulse width modulation signals are sent to a pulse width modulation module of the first stator, 6 paths of pulse width modulation signals are operated and output, and a main power converter of the first stator is driven to operate;
step 6.6, the alpha and beta axis voltage u of the second statorα2、uβ2The pulse width modulation signals are sent to a pulse width modulation module of the second stator, 6 paths of pulse width modulation signals are operated and output, and a main power converter of the second stator is driven to operate;
6.7, the first stator and the second stator exciting current reference value if1 *And if2 *Respectively sent to excitation pulse width modulation modules 1 and 2 to drive excitation power converters 1 and 2 to operate.
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