CN114123929A - Control system and control method of six-phase motor - Google Patents

Control system and control method of six-phase motor Download PDF

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Publication number
CN114123929A
CN114123929A CN202010871082.2A CN202010871082A CN114123929A CN 114123929 A CN114123929 A CN 114123929A CN 202010871082 A CN202010871082 A CN 202010871082A CN 114123929 A CN114123929 A CN 114123929A
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CN
China
Prior art keywords
winding set
control
current
control unit
phase motor
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Pending
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CN202010871082.2A
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Chinese (zh)
Inventor
班建光
辛王毅
梅近仁
陈鑫
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Schaeffler Technologies AG and Co KG
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Schaeffler Technologies AG and Co KG
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Priority to CN202010871082.2A priority Critical patent/CN114123929A/en
Publication of CN114123929A publication Critical patent/CN114123929A/en
Pending legal-status Critical Current

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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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The present invention provides a control system and a control method of a six-phase motor including a first winding set and a second winding set having an electrical angular offset of 0 degrees in space, the control system including: a parameter acquisition unit that acquires a parameter related to a current for determining distribution to the first winding set and the second winding set; a first control unit corresponding to the first winding set and determining a current to be distributed to the first winding set according to the acquired parameter; a second control unit corresponding to the second winding set and determining a current to be distributed to the second winding set according to the acquired parameter; and a driving unit that drives the first winding set and the second winding set, respectively, according to the current determined by the first control unit and the current determined by the second control unit. According to the control system and the control method of the six-phase motor, consistent and compatible control of the double-winding motor can be realized no matter how many windings are.

Description

Control system and control method of six-phase motor
Technical Field
The invention relates to the field of automatic driving, in particular to a control system and a control method of a six-phase motor.
Background
In vehicle driving control, an Electric Power Steering (EPS) system generally requires control of a motor driver and a control unit for a vehicle. Currently, auxiliary steering systems and self-steering systems typically employ a three-phase motor or a six-phase motor with dual windings and a non-redundant control unit.
Disclosure of Invention
However, in control schemes employing six-phase motors, stricter safety considerations are required and result in more components involved in system components and control, and more operating costs. Furthermore, most controls that meet more stringent safety standards are overly complex. Furthermore, different controls and implementations are required for two independent motor drives and one or two redundant control units.
In view of the above, the present invention provides a control system and a control method for a six-phase motor to solve at least one of the above problems.
According to an aspect of the present invention, there is provided a control system of a six-phase motor including a first winding set and a second winding set having an electrical angular offset of 0 degrees in space, the control system including: a parameter acquisition unit configured to acquire a parameter related to a current for determining distribution to the first winding set and the second winding set; a first control unit corresponding to the first winding set and configured to determine a current allocated to the first winding set according to the acquired parameter; a second control unit corresponding to the second winding set and configured to determine a current allocated to the second winding set according to the acquired parameter; and a driving unit configured to drive the first winding set and the second winding set according to the current determined by the first control unit and the current determined by the second control unit, respectively.
For the above control system, in a possible implementation manner, the parameter obtaining unit includes: a rotor position acquisition module configured to acquire a rotor position of the six-phase motor; a current acquisition module configured to acquire a current flowing in a control circuit of the six-phase motor; and a torque acquisition module configured to acquire a torque actually generated by the six-phase motor.
With respect to the control system described above, in one possible implementation, the torque acquisition module is configured to: acquiring the steering angle of the wheel under the action of the six-phase motor; acquiring the speed of a vehicle; and determining the torque actually generated by the six-phase motor according to the acquired steering angle and the vehicle speed.
For the above control system, in a possible implementation manner, the method further includes: an operating condition determination unit configured to determine operating conditions of the first control unit and the second control unit, wherein the first control unit and the second control unit determine the currents distributed to the first winding set and the second winding set, respectively, according to the acquired parameters and the operating conditions.
With regard to the above control system, in one possible implementation, the first control unit and the second control unit determine current gains for the first winding set and the second winding set according to the operating conditions to adjust the currents distributed to the first winding set and the second winding set according to the current gains.
According to another aspect of the present invention, there is provided a control method of a six-phase motor including a first winding set and a second winding set having an electrical angular offset of 0 degrees in space, the control system including: a parameter acquisition step of acquiring a parameter related to a current for determining distribution to the first winding set and the second winding set; a first control step of determining, with a first control unit corresponding to the first winding set, a current to be distributed to the first winding set in accordance with the acquired parameter; a second control step of determining, with a second control unit corresponding to the second winding set, a current to be distributed to the second winding set in accordance with the acquired parameter; and a driving step of driving the first winding set and the second winding set according to the current determined in the first control step and the current determined in the second control step, respectively.
For the above control method, in a possible implementation manner, the parameter obtaining step includes: a rotor position acquiring step for acquiring a rotor position of the six-phase motor; a current acquisition step of acquiring a current flowing through a control circuit of the six-phase motor; and a torque acquisition step of acquiring a torque actually generated by the six-phase motor.
With regard to the control method described above, in one possible implementation, the torque acquisition step includes: acquiring the steering angle of the wheel under the action of the six-phase motor; acquiring the speed of a vehicle; and determining the torque actually generated by the six-phase motor according to the acquired steering angle and the vehicle speed.
For the above control method, in a possible implementation manner, the method further includes: an operating condition judging step of judging operating conditions of the first control unit and the second control unit, wherein in the first control step and the second control step, the first control unit and the second control unit respectively determine currents distributed to the first winding set and the second winding set according to the acquired parameters and the operating conditions.
With regard to the above control method, in one possible implementation manner, in the first control step and the second control step, the first control unit and the second control unit determine current gains for the first winding set and the second winding set according to the operating conditions to adjust the currents distributed to the first winding set and the second winding set according to the current gains.
By the control system and the control method of the six-phase motor of the embodiment of the invention, the control can be performed for the two sets of windings with the electrical angle offset of 0 degree in space, so as to determine the currents distributed to the first winding set and the second winding set according to the acquired parameters related to the currents distributed to the first winding set and the second winding set. Since the electrical angular offset θ between the first winding set and the second winding set of the six-phase motor is adjusted to 0 degrees, the control of the first winding set and the second winding set of the six-phase motor is independent of each other, and thus the control of the redundant first control unit and the second control unit is also independent of each other. In the redundant first and second control units, both control units can be implemented with the same control method, control parameters, calibration operations and software programs. In other words, consistent and compatible control of the dual winding machine is achieved regardless of the number of windings, and the windings and winding interactions can be minimized. Further, it is possible to reduce the effort of software development related to the motor and the control unit and simplify the structure of the motor and the control unit.
Other features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the invention and, together with the description, serve to explain the principles of the invention.
Fig. 1 is a block diagram showing a control system of a six-phase motor according to an embodiment of the present invention.
Fig. 2 shows a schematic view of a six-phase electric machine according to an embodiment of the invention.
Fig. 3 shows a block diagram of a control system of a six-phase motor according to another embodiment of the present invention.
Fig. 4 shows a block diagram of a control system of a six-phase motor according to another embodiment of the present invention.
Fig. 5 shows a block diagram of a control system of a six-phase motor according to still another embodiment of the present invention.
Fig. 6 shows a control schematic of a redundant control unit.
Fig. 7 is a flowchart illustrating a control method of a three-phase motor according to an embodiment of the present invention.
Detailed Description
Various exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present invention. It will be understood by those skilled in the art that the present invention may be practiced without some of these specific details. In some instances, methods, procedures, components, and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present invention.
As mentioned in the background, in six-phase motors with double windings and non-redundant control units, the control to meet stricter safety standards is often too complex and requires different control and implementation for two independent motor drives and one or two redundant control units. In particular, these differences cannot be eliminated for the control method, the control parameters, the calibration operations and the software program. Furthermore, especially when the necessary control is performed for a double-winding motor combined with redundant control units, either each control unit cannot be replaced by another control unit, or the control method and procedure are different due to the above-mentioned differences. This results in a great deal of effort being required for software development relating to the motor and the control unit, and the control performance may vary between the motor and the control unit. At the operational level, these drawbacks and deficiencies make the difference between the control unit and the motor.
In view of the above, the present invention provides a control system and a control method for a six-phase motor, so as to solve at least one of the above problems, thereby enabling consistent and compatible control of the six-phase motor.
Hereinafter, embodiments of the present invention will be specifically described.
Fig. 1 is a block diagram showing a control system of a six-phase motor according to an embodiment of the present invention. The six-phase machine includes a first winding set and a second winding set having an electrical angular offset of 0 degrees in space. As shown in fig. 1, the control system 10 includes: a parameter acquisition unit 11 configured to acquire a parameter related to a current for determining distribution to the first winding set and the second winding set; a first control unit 12 corresponding to the first winding set and configured to determine the current allocated to the first winding set according to the acquired parameter; a second control unit 13, which corresponds to the second winding set and is configured to determine the current to be distributed to the second winding set according to the acquired parameter; and a driving unit 14 configured to drive the first winding set and the second winding set according to the current determined by the first control unit and the current determined by the second control unit, respectively.
Details will be described below.
First, a six-phase motor to which the control system and the control method according to the embodiment of the invention are applied will be explained. Fig. 2 shows a schematic view of a six-phase electric machine according to an embodiment of the invention. As shown in fig. 2, the six-phase motor (hereinafter sometimes also referred to simply as "motor") has a winding set 1 (corresponding to a first winding set of the present invention) and a winding set 2 (corresponding to a second winding set of the present invention), wherein each of the winding set 1 and the winding set 2 includes a three-phase winding as shown in fig. 2.
Further, in the conventional six-phase motor, the winding set 1 and the winding set 2 have an electrical angular offset θ in space, and the electrical angular offset θ is not 0 degrees, whereby the control of the winding set 1 and the winding set 2 is not independent, that is, the control unit corresponding to the winding set 1 and the control unit corresponding to the winding set 2 are not independent. In other words, in the conventional six-phase motor arrangement, different controls are required for the winding set 1 and the winding set 2, and there are differences in control methods, control parameters, calibration operations, software programs, and the like.
However, in the six-phase motor of the embodiment of the present invention, the electrical angular offset θ of the winding set 1 and the winding set 2 in space is adjusted to 0 degrees, whereby the control of the winding set 1 and the winding set 2 can be realized by the same control method, control parameters, calibration operation, software program, and the like. The control of the winding set 1 and the winding set 2 by the control system according to the embodiment of the present invention will be specifically described below.
In the embodiment of the invention, the control system 10 of the six-phase motor may be, for example, an EPS system on the vehicle, or built in an existing EPS system as a unit component. In other words, the control system 10 of the embodiment of the present invention may be implemented by an EPS system. Of course, the control system 10 of the embodiment of the present invention is not limited thereto, and may be implemented by using, for example, an onboard controller.
Details of each unit component of the control system 10 will be specifically described below.
The parameter acquisition unit 11 may be configured to acquire a relevant parameter of a current of a winding for calculating a six-phase current, for example. In one possible implementation, these relevant parameters may include the rotor position of the motor, the current flowing in the control circuit of the motor, the torque actually output by the motor, and so on. Accordingly, in order to acquire these relevant parameters, as shown in fig. 3, the parameter acquisition unit 11 may include, for example, a rotor position acquisition module 111, a current acquisition module 112, and a torque acquisition module 113.
The rotor position acquisition module 111 is, for example, a position sensor, and may calculate a rotor position of the motor from position signals output from a rotor sensor corresponding to the first winding and/or a rotor sensor corresponding to the second winding. Thereby, the parameter acquisition unit 11 can acquire the rotor position of the motor by the rotor position acquisition module 111.
The current acquisition module 112 is, for example, a current sensor, and may acquire the current by detecting a current signal of the current flowing through the control circuit of the motor. In addition, it is generally necessary to perform appropriate vector conversion on the current signals, thereby obtaining three-phase current signals suitable for the subsequent processing by the current distribution controller.
The torque acquisition module 113 is, for example, a torque sensor, and may acquire the torque actually output by the motor by acquiring a torque signal associated with the torque to be applied to the motor. Typically, the torque acquired includes the magnitude and direction of the torque. In one possible implementation, the torque acquisition module 113 may calculate the torque from the steering angle and the vehicle speed. Specifically, the torque acquisition module 113 may acquire the steering angle (including the magnitude and direction) of the wheel under the action of the motor by acquiring an angle signal from, for example, a steering angle sensor, and may acquire the vehicle speed of the vehicle by receiving the vehicle speed transmitted from the on-vehicle controller. Then, the torque acquisition module 113 calculates the magnitude of the torque according to the magnitude of the steering angle and the vehicle speed, and calculates the direction of the torque according to the direction of the steering angle. Thus, the torque acquisition module 113 can acquire the torque actually output by the motor.
Further, in the embodiment of the invention, the torque actually output by the motor is calculated by, for example, the steering angle and the vehicle speed. However, the torque may also be calculated by dividing this parameter. In this regard, the present invention is not particularly limited.
Next, the first control unit 12 and the second control unit 13 will be explained.
The first control unit 12 and the second control unit 13 may also be referred to as current distribution controllers, which may be configured to determine the currents distributed to the first winding set and the second winding set according to the parameters acquired by the parameter acquisition unit 11. Wherein the first control unit 12 corresponds to a first winding set and is configured to determine the current allocated to the first winding set, and the second control unit 13 corresponds to a second winding set and is configured to determine the current allocated to the second winding set.
Specifically, the first control unit 12 may calculate the current corresponding to the first winding set from the parameters (including, for example, the rotor position of the motor, the current flowing through the control circuit of the motor, and the torque actually output by the motor, etc.) corresponding to the first winding set acquired by the parameter acquisition unit 11, and distribute the current to the first winding set. On the other hand, the second control unit 13 may calculate a current corresponding to the second winding set from the parameters (including, for example, the rotor position of the motor, the current flowing through the control circuit of the motor, and the torque actually output by the motor, etc.) corresponding to the second winding set acquired by the parameter acquisition unit 11, and distribute the current to the second winding set.
Next, after the current distribution controller (the first control unit 12 and the second control unit 13) determines the currents distributed to the first winding set and the second winding set, the determined currents are distributed to the drive unit 14. Thereby, the driving unit 14 may drive the first winding set and the second winding set according to the distributed current.
Thus, the control system of the six-phase motor according to the embodiment of the present invention can control the two sets of windings having an electrical angular offset of 0 degrees in space to determine the currents distributed to the first winding set and the second winding set according to the acquired parameters (including, for example, the rotor position of the motor, the current flowing through the control circuit of the motor, and the torque actually output by the motor) related to the determination of the currents distributed to the first winding set and the second winding set. Since the electrical angular offset θ between the first winding set and the second winding set of the six-phase motor is adjusted to 0 degrees, the control of the first winding set and the second winding set of the six-phase motor is independent of each other, and thus the control of the redundant first control unit and the second control unit is also independent of each other. In the redundant first control unit 12 and second control unit 13, both control units can be implemented with the same control method, control parameters, calibration operations and software programs. In other words, consistent and compatible control of the dual winding machine is achieved regardless of the number of windings, and the windings and winding interactions can be minimized. Further, it is possible to reduce the effort of software development related to the motor and the control unit and simplify the structure of the motor and the control unit.
Another embodiment of the present invention will be described below.
Fig. 4 shows a block diagram of a control system of a six-phase motor according to another embodiment of the present invention. The same components in fig. 4 as those in fig. 1 and 3 are given the same reference numerals, and duplicate explanation will be omitted.
As shown in fig. 4, the control system 20 according to the embodiment of the present invention is mainly different from the control system 10 of the above-described embodiment in that it may further include: an operating condition determining unit 15 configured to determine operating conditions of the first control unit 12 and the second control unit 13, wherein the first control unit 12 and the second control unit 13 determine the currents distributed to the first winding set and the second winding set, respectively, according to the acquired parameters and the operating conditions.
Specifically, the operating situation determining unit 15 may be, for example, a bureaucratic Monitor (Wigman Monitor) which can determine the operating situation between the first control unit 12 and the second control unit 13, more specifically, whether there is a failure in the other party, by monitoring the bureaucratic Monitor. Further, the operating condition determining unit 15 may also be a redundant communication failure diagnosing unit that can determine whether there is a failure in the first winding set and the second winding set through communication with the first control unit 12 and the second control unit 13, respectively.
Accordingly, the first control unit 12 and the second control unit 13 may adjust the current distributed to the first winding set and the second winding set according to the judgment result of the operation condition judgment unit 15. In particular, in the usual case, the first winding set and the first winding set each assume, for example, 50% of the operating tasks. That is, in a normal case, the first control unit 12 distributes a current to the first winding set equal to the current distributed to the second winding set by the second control unit 13. However, if the operating condition determining unit 15 determines that there is a failure in, for example, the first control unit 12, the current gain for the first winding set and the second winding set may be adjusted so as not to output current to the first winding set but to output twice as much current to the second winding set, thereby assuming the entire operation task. That is, the motor may be controlled only by the second control unit 13. In addition, for example, if the operating condition determining unit 15 determines that, although the first control unit 12 has no fault, the temperature of the first winding set is too high, for example, the current gain of the first winding set may be decreased, while the current gain of the second winding set is increased, thereby causing the current allocated to the first winding set by the first control unit 12 to decrease, while the current allocated to the second winding set by the second control unit 13 increases, thereby causing the first winding set to assume fewer operating tasks and the first winding set to assume more operating tasks.
Then, the driving unit 14 drives the first winding set and the second winding set according to the adjusted currents distributed to the first winding set and the second winding set.
The above is merely an example, and the present invention is not limited thereto, and the currents distributed to the first winding set and the second winding set may be adjusted according to the operating conditions of the first control unit 12 and the second control unit 13 determined by the operating condition determining unit 15 and the specific application scenario.
Thus, according to the control system of the six-phase motor of the embodiment of the present invention, the operation state of each redundant control unit can be monitored and checked. Even if any one of the redundant control units fails or any system component fails, any control error between the redundant control units can be eliminated, and the control performance and motor actuation can be normal as those of the two control units.
Fig. 5 shows a block diagram of a control system of a six-phase motor according to still another embodiment of the present invention. As shown in fig. 5, the control system includes a vector conversion unit, a rotor position calculation unit, a current automatic distribution scheme setting unit, a fault diagnosis unit, a current gain determination unit, and a current distribution controller.
Specifically, the vector conversion unit is configured to vector-convert the current signals from the current sensors to convert into three-phase current signals, and to transmit the resulting three-phase current signals to the current distribution controller.
The rotor position calculation unit is configured to calculate a rotor position of the three-phase motor from the input position signals of the rotor sensor a and/or the rotor sensor B, and to transmit the calculated rotor position to the current distribution controller. Where rotor sensor a corresponds to winding set 1 (the first winding set in the present invention) and rotor sensor B corresponds to winding set 2 (the second winding set in the present invention). Thus, with two signals from redundant rotor position sensors, redundant current calculations can be established as described below.
The fault diagnosis unit is configured to diagnose the operating conditions of the control unit a and the control unit B, and send the diagnosis results to the current distribution automatic scenario setting unit and the current gain determination unit. Wherein the control unit a corresponds to the winding set 1 (first winding set in the present invention), and the control unit B corresponds to the winding set 2 (second winding set in the present invention).
The current gain determination unit is configured to determine current gains for the winding set 1 and the winding set 2, i.e., perform current automatic gain control, according to the diagnosis result of the fault diagnosis unit, and transmit the current automatic gain control result to the current distribution controller. Among them, diagnosis can be performed by failure diagnosis of a bureaucratic Monitor (Wigman Monitor) and redundant communication. In particular, the control situation and the peripheral situation of the three-phase motor can be output to the respective control units by a wing plane autonomous diagnosis (wing plane monitor).
The current automatic distribution scheme setting unit sets a current automatic distribution scheme according to a torque request corresponding to a torque desired to be output by the motor, a steering angle request corresponding to a steering angle of a wheel of the vehicle, and a diagnosis result of the fault diagnosis unit, and sends the current automatic distribution scheme to the current distribution controller.
The current distribution controller determines the currents distributed to the winding set 1 and the winding set 2 according to the three-phase current signals, the current automatic gain control result, and the current automatic distribution scheme. That is, the control gain of the current distribution controller is based on the input of the failure diagnosis, so that the distributed current can be adjusted according to the input of the failure diagnosis. Then, the current signal is subjected to SVPWM (space vector pulse width modulation), and then a duty cycle command (DutyCycle Cmd) is input to operate the six-phase motor.
Thus, according to embodiments of the present invention, the control system achieves consistent and compatible control through a combination of rotor position calculation, current distribution automation scheme setup, fault diagnosis for redundant communications, current distribution controllers, and current automatic gain control.
Fig. 6 shows a control schematic of a redundant control unit. As shown in fig. 6, the control unit a corresponding to the winding set 1 outputs the distributed current signal to the connector 1 corresponding to the winding set 1 through three-phase connection, thereby controlling the operation of the winding set 1 in the motor. On the other hand, the control unit B corresponding to the winding set 2 outputs the distributed current signal to the connector 2 corresponding to the winding set 2 through three-phase connection, thereby controlling the operation of the winding set 2 in the motor. Thereby achieving redundant control of the six-phase motor.
Thus, the control system of the six-phase motor according to the embodiment of the present invention can control the two sets of windings having the electrical offset angle of 0 in space to determine the currents distributed to the first winding set and the second winding set according to the acquired parameters related to the determination of the currents distributed to the first winding set and the second winding set (including, for example, the rotor position of the motor, the current flowing through the control circuit of the motor, the torque actually output by the motor, and the like). Accordingly, since the electrical offset angle θ between the first winding set and the second winding set is adjusted to 0 degrees, consistent and compatible control of the double winding motor can be achieved regardless of the number of windings, and the mutual influence between the windings can be minimized. In this way the control of the redundant control units can be identical without any difference in parameters and control programs.
Therefore, even if any one of the redundant control units fails or any system component fails, any control error between the redundant control units can be eliminated. The control performance and motor actuation may be as normal as the control of the two control units.
Thus, according to embodiments of the present invention, the operation of each control unit may be consistently compatible. Each control unit as shown in fig. 6 may be replaced by another without changing any parameters and controls. Each connection of any set of windings is identical to any control unit and can be connected to any connector, independently of the control unit itself.
Fig. 7 is a flowchart illustrating a control method of a three-phase motor according to an embodiment of the present invention. The six-phase electric machine includes a first winding set and a second winding set having an electrical angular offset of 0 degrees in space. As shown in fig. 7, the control method may mainly include the following steps: a parameter acquisition step S700 for acquiring a parameter related to a current for determining distribution to the first winding set and the second winding set; a first control step S720 of determining, with a first control unit corresponding to the first winding set, a current to be distributed to the first winding set according to the acquired parameter; a second control step S730 of determining, with a second control unit corresponding to the second winding set, a current to be distributed to the second winding set according to the acquired parameter; and a driving step S740 of driving the first winding set and the second winding set, respectively, according to the current determined in the first control step S720 and the current determined in the second control step S730.
As for the above control method, in a possible implementation manner, the parameter obtaining step S700 includes: a rotor position acquiring step S7001 of acquiring a rotor position of the six-phase motor; a current acquisition step S7002 of acquiring a current flowing through a control circuit of the six-phase motor; and a torque acquisition step S7003 of acquiring torque actually generated by the six-phase motor.
With the control method described above, in one possible implementation, the torque acquisition step S7003 includes: acquiring the steering angle of the wheel under the action of the six-phase motor; acquiring the speed of a vehicle; and determining the torque actually generated by the six-phase motor according to the acquired steering angle and the vehicle speed.
For the above control method, in a possible implementation manner, the method further includes: an operation condition judging step S710 for judging operation conditions of the first control unit and the second control unit, wherein in the first control step S720 and the second control step S730, the first control unit and the second control unit respectively determine the currents distributed to the first winding set and the second winding set according to the acquired parameters and the operation conditions.
With regard to the above control method, in one possible implementation manner, in the first control step S720 and the second control step S730, the first control unit and the second control unit determine current gains for the first winding set and the second winding set according to the operating conditions to adjust the currents distributed to the first winding set and the second winding set according to the current gains.
For details of the control method of the three-phase motor according to the embodiment of the present invention, please refer to the detailed description in the above embodiments, which is not repeated herein.
According to the control method of the three-phase motor, the control can be performed for the two sets of windings with the electrical offset angle of 0 in the space, so as to determine the currents distributed to the first winding set and the second winding set according to the acquired parameters related to the determination of the currents distributed to the first winding set and the second winding set (such as the rotor position of the motor, the current flowing through the control circuit of the motor, the actual output torque of the motor and the like). Accordingly, since the electrical offset angle θ between the first winding set and the second winding set is adjusted to 0 degrees, consistent and compatible control of the double winding motor can be achieved regardless of the number of windings, and the mutual influence between the windings can be minimized. In this way the control of the redundant control units can be identical without any difference in parameters and control programs.
Therefore, even if any one of the redundant control units fails or any system component fails, any control error between the redundant control units can be eliminated. The control performance and motor actuation may be as normal as the control of the two control units.
Thus, according to embodiments of the present invention, the operation of each control unit may be consistently compatible. Each control unit as shown in fig. 6 may be replaced by another without changing any parameters and controls. Each connection of any set of windings is identical to any control unit and can be connected to any connector, independently of the control unit itself.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (10)

1. A control system for a six-phase electric machine including a first winding set and a second winding set having an electrical angular offset of 0 degrees in space, the control system comprising:
a parameter acquisition unit configured to acquire a parameter related to a current for determining distribution to the first winding set and the second winding set;
a first control unit corresponding to the first winding set and configured to determine a current allocated to the first winding set according to the acquired parameter;
a second control unit corresponding to the second winding set and configured to determine a current allocated to the second winding set according to the acquired parameter; and
a driving unit configured to drive the first winding set and the second winding set according to the current determined by the first control unit and the current determined by the second control unit, respectively.
2. The control system according to claim 1, wherein the parameter acquisition unit includes:
a rotor position acquisition module configured to acquire a rotor position of the six-phase motor;
a current acquisition module configured to acquire a current flowing in a control circuit of the six-phase motor; and
a torque acquisition module configured to acquire a torque actually generated by the six-phase motor.
3. The control system of claim 2, wherein the torque acquisition module is configured to:
acquiring the steering angle of the wheel under the action of the six-phase motor;
acquiring the speed of a vehicle;
and determining the torque actually generated by the six-phase motor according to the acquired steering angle and the vehicle speed.
4. The control system according to any one of claims 1 to 3, characterized by further comprising:
an operating condition judgment unit configured to judge operating conditions of the first control unit and the second control unit,
wherein the first and second control units determine the currents distributed to the first and second winding sets, respectively, according to the acquired parameters and the operating conditions.
5. The control system of claim 4, wherein the first and second control units determine current gains for the first and second winding sets as a function of the operating conditions to adjust the current distributed to the first and second winding sets as a function of the current gains.
6. A control method of a six-phase motor including a first winding set and a second winding set having an electrical angle offset of 0 degrees in space, the control method comprising:
a parameter acquisition step of acquiring a parameter related to a current for determining distribution to the first winding set and the second winding set;
a first control step of determining, with a first control unit corresponding to the first winding set, a current to be distributed to the first winding set in accordance with the acquired parameter;
a second control step of determining, with a second control unit corresponding to the second winding set, a current to be distributed to the second winding set in accordance with the acquired parameter; and
a driving step of driving the first winding set and the second winding set according to the current determined in the first control step and the current determined in the second control step, respectively.
7. The control method according to claim 6, wherein the parameter acquisition step includes:
a rotor position acquiring step for acquiring a rotor position of the six-phase motor;
a current acquisition step of acquiring a current flowing through a control circuit of the six-phase motor; and
and a torque acquisition step of acquiring a torque actually generated by the six-phase motor.
8. The control method according to claim 7, wherein the torque acquisition step includes:
acquiring the steering angle of the wheel under the action of the six-phase motor;
acquiring the speed of a vehicle;
and determining the torque actually generated by the six-phase motor according to the acquired steering angle and the vehicle speed.
9. The control method according to any one of claims 6 to 8, characterized by further comprising:
an operating condition judging step of judging operating conditions of the first control unit and the second control unit,
wherein in the first control step and the second control step, the first control unit and the second control unit respectively determine the currents distributed to the first winding set and the second winding set according to the acquired parameters and the operating conditions.
10. The control method according to claim 9, characterized in that in the first control step and the second control step, the first control unit and the second control unit determine current gains for the first winding set and the second winding set according to the operating conditions to adjust the currents distributed to the first winding set and the second winding set according to the current gains.
CN202010871082.2A 2020-08-26 2020-08-26 Control system and control method of six-phase motor Pending CN114123929A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010871082.2A CN114123929A (en) 2020-08-26 2020-08-26 Control system and control method of six-phase motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010871082.2A CN114123929A (en) 2020-08-26 2020-08-26 Control system and control method of six-phase motor

Publications (1)

Publication Number Publication Date
CN114123929A true CN114123929A (en) 2022-03-01

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010871082.2A Pending CN114123929A (en) 2020-08-26 2020-08-26 Control system and control method of six-phase motor

Country Status (1)

Country Link
CN (1) CN114123929A (en)

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