CN114744922A - Fault-tolerant control device and method for double-winding permanent magnet synchronous motor current sensor - Google Patents

Fault-tolerant control device and method for double-winding permanent magnet synchronous motor current sensor Download PDF

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CN114744922A
CN114744922A CN202210272955.7A CN202210272955A CN114744922A CN 114744922 A CN114744922 A CN 114744922A CN 202210272955 A CN202210272955 A CN 202210272955A CN 114744922 A CN114744922 A CN 114744922A
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permanent magnet
magnet synchronous
controllable power
sampling
power switch
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闫浩
曾凡桂
杨嘉诚
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Taicang Yangtze River Delta Research Institute of Northwestern Polytechnical University
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Taicang Yangtze River Delta Research Institute of Northwestern Polytechnical University
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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
    • 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
    • H02P25/18—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 with arrangements for switching the windings, e.g. with mechanical switches or relays
    • 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
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

A fault-tolerant control device and method for a double-winding permanent magnet synchronous motor current sensor relates to the field of motor control. Controllable power switching devices Q1-Q12 in the device control two sets of star-connected three-phase permanent magnet synchronous motors, the sum of currents of every two branches is collected through two Hall current sensors, the three-phase permanent magnet synchronous motors are controlled by SVPWM based on the topology, meanwhile, the two sets of windings are ensured to have no phase difference, no phase difference is generated between PWM signals of the two sets of windings, current sampling is respectively carried out on the two Hall current sensors at the middle time and the tail end time of a PWM period, sampling results obtained by analysis are recorded, and six phase currents are obtained through calculation by combining the relation between the three phase currents in star connection of the three-phase permanent magnet synchronous motors, so that closed-loop control of the motors is completed, and fault-tolerant control is completed. The problem of current motor control system of two sets of windings if break down and lead to the unable normal operating of motor is solved.

Description

Fault-tolerant control device and method for double-winding permanent magnet synchronous motor current sensor
Technical Field
The invention relates to the field of motor control.
Background
The permanent magnet synchronous motor has the advantages of high power density and light weight, is widely applied to the field of new energy automobiles, and most of electric automobile hub motors in the market at present adopt the permanent magnet synchronous motor. In order to improve the reliability of the motor, a double-winding structure is adopted in some occasions, namely one winding can be replaced by another winding after a fault occurs, and the fault-tolerant operation capability of a motor system can be effectively improved by the backup mode. However, for a motor control system adopting two sets of windings, two voltage source inverters are needed, and each inverter needs at least two phase current sensors to realize the vector control of the motor. If the phase current sensors fail, the motor cannot operate normally, and serious consequences are caused, so that a backup fault-tolerant control strategy is provided for the failure of the phase current sensors.
Disclosure of Invention
The invention provides a fault-tolerant control device and method for a current sensor of a double-winding permanent magnet synchronous motor, aiming at solving the problem that the motor cannot normally run if the existing motor control system with two windings fails. The invention provides a phase current reconstruction control strategy based on isolated Hall current sensor multi-branch sampling, aiming at a double-winding permanent magnet synchronous motor for a new energy automobile, and fault-tolerant operation of a motor current sensor fault is realized.
The technical scheme adopted by the invention is as follows:
the fault-tolerant control device of the double-winding permanent magnet synchronous motor current sensor comprises two sets of star-connected three-phase permanent magnet synchronous motors and a driving circuit;
the windings of the two sets of star-connected three-phase permanent magnet synchronous motors are respectively A1, B1, C1, A2, B2 and C2;
the driving circuit comprises controllable power switching devices Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8, Q9, Q10, Q11, Q12 and two direct current sources VDCAnd two Hall current sensors with through holes in the middle;
the emitter of the controllable power switch device Q1 is connected with the collector of Q2 in series, the emitter of the controllable power switch device Q3 is connected with the collector of Q4 in series, and the power is controllableThe emitter of the switching device Q5 is connected in series with the collector of Q6, and the collectors of the controllable power switching devices Q1, Q3 and Q5 are simultaneously connected with a direct current source VDCThe emitters of the controllable power switching devices Q2, Q4 and Q6 are simultaneously connected with a direct current source VDCThe negative electrode of (1); a winding A1 of a set of star-connected three-phase permanent magnet synchronous motor is connected with an emitter of a controllable power switch device Q1, a winding B1 is connected with an emitter of a controllable power switch device Q3, and a winding C1 is connected with an emitter of a controllable power switch device Q5;
the emitter of the controllable power switch device Q7 is connected with the collector of Q8 in series, the emitter of the controllable power switch device Q9 is connected with the collector of Q10 in series, the emitter of the controllable power switch device Q11 is connected with the collector of Q12 in series, and the collectors of the controllable power switch devices Q7, Q9 and Q11 are connected with a direct current source V simultaneouslyDCThe emitters of the controllable power switching devices Q8, Q10 and Q12 are simultaneously connected with a direct current source VDCThe negative electrode of (1); a winding A2 of the other set of star-connected three-phase permanent magnet synchronous motor is connected with an emitter of a controllable power switch device Q7, a winding B2 is connected with an emitter of a controllable power switch device Q9, and a winding C2 is connected with an emitter of a controllable power switch device Q11;
the current path between the controllable power switch devices Q2 and Q4 is a branch circuit I, the current path between the controllable power switch devices Q4 and Q6 is a branch circuit II, the current path between the controllable power switch devices Q7 and Q9 is a branch circuit III, and the current path between the controllable power switch devices Q9 and Q11 is a branch circuit II;
a Hall current sensor with a through hole in the middle is used for collecting the sum of the currents of the first branch and the fourth branch; and the other Hall current sensor with a through hole in the middle is used for collecting the sum of the currents of the branch circuit II and the branch circuit III.
The fault-tolerant control method based on the fault-tolerant control device of the double-winding permanent magnet synchronous motor current sensor comprises the following steps of:
step one, preparing a fault-tolerant control device of a double-winding permanent magnet synchronous motor current sensor, wherein three-phase currents of a first set of windings are ia1, ib1 and ic1, and three-phase currents of a second set of windings are ia2, ib2 and ic 2;
secondly, windings of two sets of star-connected three-phase permanent magnet synchronous motors respectively adopt a seven-segment Space Vector Pulse Width Modulation (SVPWM) technology to control the three-phase permanent magnet synchronous motors;
step three, ensuring that two sets of windings of the three-phase permanent magnet synchronous motor in star connection have no phase difference, controlling the PWM signals of the two sets of windings to have no phase difference, respectively carrying out primary current sampling on two Hall current sensors at the middle moment of a PWM period, and recording the voltage vector acting at the moment as V7 (111);
step four, respectively carrying out secondary current sampling on the two Hall current sensors at the end of a PWM period, wherein the applied voltage vector is V0(000), and recording;
analyzing sampling results of the four branches under the action of two voltage vectors V7(111) and V0(000) to obtain:
in the branch circuit I, the sampling result of V7(111) is 0, and the sampling result of V0(000) is-ia 1;
in the branch (II), the sampling result of V7(111) is 0, and the sampling result of V0(000) is ic 1;
when branch c is taken, the sampling result of V7(111) is-ia 2, and the sampling result of V0(000) is 0;
when the branch circuit is a branch circuit, the sampling result of V7(111) is ic2, and the sampling result of V0(000) is 0;
and step six, obtaining sampling result expressions of the two Hall current sensors in the first sampling (V7) and the second sampling (V0) according to the result of the step five, wherein the sampling result expressions are as follows:
Figure BDA0003554523300000031
Figure BDA0003554523300000032
the results of the first sampling (V7) and the second sampling (V0) of the Hall current sensor (current sensor 1) between the branches are isam1_1 and isam1_ 2; the results of the first sampling (V7) and the second sampling (V0) of the Hall current sensor (current sensor2) between the branch (C) and the branch (C) are isam2_1 and isam2_ 2;
seventhly, because the windings of the three-phase permanent magnet synchronous motor are in star connection, ia1+ ib1+ ic is 0; ia2+ ib2+ ic2 ═ 0; therefore, six phase currents of the windings of the two sets of star-connected three-phase permanent magnet synchronous motors are calculated through the two Hall current sensors, and the expression is as follows:
Figure BDA0003554523300000033
Figure BDA0003554523300000034
and step eight, according to the obtained six phase currents of the windings of the two sets of star-connected three-phase permanent magnet synchronous motors, the closed-loop control of the motors can be realized.
Has the advantages that: the invention relates to a fault-tolerant control device of a double-winding permanent magnet synchronous motor current sensor, which comprises two sets of star-connected three-phase permanent magnet synchronous motors, controllable power switching devices Q1-Q12 and two direct current sources VDCAnd two Hall current sensors with through holes in the middle; the controllable power switching devices Q1 to Q6 complete control of one set of star-connected three-phase permanent magnet synchronous motor, the controllable power switching devices Q7 to Q12 complete control of the other set of star-connected three-phase permanent magnet synchronous motor, two sets of windings of the motor are in star connection, the difference between the two sets of windings is 0 degree in electrical angle, and no phase difference exists. The topological structure is simple, the sum of the currents of the first branch and the fourth branch is collected through one Hall current sensor, and the sum of the currents of the second branch and the third branch is collected through the other Hall current sensor. Based on the topological structure, the windings of two sets of star-connected three-phase permanent magnet synchronous motors are respectively controlled by adopting a seven-segment Space Vector Pulse Width Modulation (SVPWM) technology, no phase difference is ensured between the two sets of windings, no phase difference is also generated between PWM signals for controlling the two sets of windings, and two Hall motors are respectively controlled at the middle moment of a PWM periodThe flow sensor performs first current sampling, and the applied voltage vector is V7(111) and is recorded; respectively carrying out secondary current sampling on the two Hall current sensors at the end of a PWM period, wherein the applied voltage vector is V0(000), and recording; and analyzing the obtained sampling result, and combining the relation between three-phase currents in the star connection of the three-phase permanent magnet synchronous motor to further calculate and obtain six phase currents so as to complete the closed-loop control of the motor.
The device and the method realize fault-tolerant operation of the double-winding permanent magnet synchronous motor for the new energy automobile when the phase current sensor fails, improve the reliability of a motor control system, and solve the problem that the motor cannot normally operate if the existing motor control system with two windings fails.
Drawings
FIG. 1 is a schematic circuit topology diagram of a fault-tolerant control device of a double-winding permanent magnet synchronous motor current sensor;
FIG. 2 is a schematic diagram of a PWM modulation strategy and current sensor sampling points;
fig. 3 is a flow chart of a fault-tolerant control method of a double-winding permanent magnet synchronous motor current sensor.
Detailed Description
The first embodiment is specifically described with reference to fig. 1, and the fault-tolerant control device for a current sensor of a double-winding permanent magnet synchronous motor in the first embodiment comprises two sets of star-connected three-phase permanent magnet synchronous motors and a driving circuit;
the windings of the two sets of star-connected three-phase permanent magnet synchronous motors are respectively A1, B1, C1, A2, B2 and C2;
the driving circuit comprises controllable power switching devices Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8, Q9, Q10, Q11, Q12 and two direct current sources VDCAnd two Hall current sensors with through holes in the middle;
the emitter of the controllable power switching device Q1 is connected in series with the collector of Q2, the emitter of the controllable power switching device Q3 is connected in series with the collector of Q4, the emitter of the controllable power switching device Q5 is connected in series with the collector of Q6, and the collectors of the controllable power switching devices Q1, Q3, Q5Pole-simultaneous connection direct current source VDCThe emitters of the controllable power switching devices Q2, Q4 and Q6 are simultaneously connected with a direct current source VDCThe negative electrode of (1); a winding A1 of a set of star-connected three-phase permanent magnet synchronous motor is connected with an emitter of a controllable power switch device Q1, a winding B1 is connected with an emitter of a controllable power switch device Q3, and a winding C1 is connected with an emitter of a controllable power switch device Q5;
the emitter of the controllable power switch device Q7 is connected with the collector of Q8 in series, the emitter of the controllable power switch device Q9 is connected with the collector of Q10 in series, the emitter of the controllable power switch device Q11 is connected with the collector of Q12 in series, and the collectors of the controllable power switch devices Q7, Q9 and Q11 are connected with a direct current source V simultaneouslyDCThe emitters of the controllable power switching devices Q8, Q10 and Q12 are simultaneously connected with a direct current source VDCThe negative electrode of (1); a winding A2 of the other set of star-connected three-phase permanent magnet synchronous motor is connected with an emitter of a controllable power switch device Q7, a winding B2 is connected with an emitter of a controllable power switch device Q9, and a winding C2 is connected with an emitter of a controllable power switch device Q11;
the current path between the controllable power switch devices Q2 and Q4 is a branch circuit I, the current path between the controllable power switch devices Q4 and Q6 is a branch circuit II, the current path between the controllable power switch devices Q7 and Q9 is a branch circuit III, and the current path between the controllable power switch devices Q9 and Q11 is a branch circuit II;
a Hall current sensor with a through hole in the middle is used for collecting the sum of the currents of the first branch and the fourth branch; and the other Hall current sensor with a through hole in the middle is used for collecting the sum of the currents of the branch circuit II and the branch circuit III.
In this embodiment, a circuit topology structure of a fault-tolerant control device for a current sensor of a dual-winding permanent magnet synchronous motor is mainly introduced, in which controllable power switching devices Q1 to Q6 complete control of a set of star-connected three-phase permanent magnet synchronous motor, controllable power switching devices Q7 to Q12 complete control of another set of star-connected three-phase permanent magnet synchronous motor, two sets of windings of the motor are star-connected, and there is no phase difference between the two sets of windings with an electrical angle of 0 °.
Fig. 1 shows a fault-tolerant control circuit topology of a current sensor of a double-winding permanent magnet synchronous motor. Two sets of windings of the motor are in star connection, the difference between the two sets of windings is 0 degree of electrical angle, and no phase difference exists. In the two voltage source inverters shown in fig. 1, the branch r is a current branch between the power switching transistors Q2 and Q4, the branch r is a current branch between the power switching transistors Q4 and Q6, the branch r is a current branch between the power switching transistors Q7 and Q9, and the branch r is a current branch between the power switching transistors Q9 and Q11. The dotted line represents two isolated Hall current sensors, wherein the current sensor which inclines to the right side samples the sum of the currents of the branch I and the branch II, and the current sensor which inclines to the left side samples the sum of the currents of the branch II and the branch III.
In a second embodiment, referring to fig. 1 to 3, a fault-tolerant control method of a fault-tolerant control device for a dual-winding permanent magnet synchronous motor current sensor according to the first embodiment includes the following steps:
step one, preparing a fault-tolerant control device of a double-winding permanent magnet synchronous motor current sensor, wherein three-phase currents of a first set of windings are ia1, ib1 and ic1, and three-phase currents of a second set of windings are ia2, ib2 and ic 2;
secondly, windings of two sets of star-connected three-phase permanent magnet synchronous motors respectively adopt a seven-segment Space Vector Pulse Width Modulation (SVPWM) technology to control the three-phase permanent magnet synchronous motors;
step three, ensuring that two sets of windings of the three-phase permanent magnet synchronous motor connected in a star shape have no phase difference, controlling the PWM signals of the two sets of windings to have no phase difference, respectively carrying out first current sampling on the two Hall current sensors at the middle moment of a PWM period, and recording the voltage vector acting at the moment as V7 (111);
step four, respectively carrying out secondary current sampling on the two Hall current sensors at the end of a PWM period, wherein the applied voltage vector is V0(000), and recording;
analyzing sampling results of the four branches under the action of two voltage vectors V7(111) and V0(000) to obtain:
in the branch I, the sampling result of V7(111) is 0, and the sampling result of V0(000) is-ia 1;
when the branch is II, the sampling result of V7(111) is 0, and the sampling result of V0(000) is ic 1;
when branch c is taken, the sampling result of V7(111) is-ia 2, and the sampling result of V0(000) is 0;
when the branch circuit is a branch circuit, the sampling result of V7(111) is ic2, and the sampling result of V0(000) is 0;
and step six, obtaining sampling result expressions of the two Hall current sensors in the first sampling (V7) and the second sampling (V0) according to the result of the step five, wherein the sampling result expressions are as follows:
Figure BDA0003554523300000051
Figure BDA0003554523300000061
the results of the first sampling (V7) and the second sampling (V0) of the Hall current sensor (current sensor 1) between the branches are isam1_1 and isam1_ 2; the results of the first sampling (V7) and the second sampling (V0) of the Hall current sensor (current sensor2) between the branch (C) and the branch (C) are isam2_1 and isam2_ 2;
seventhly, because the windings of the three-phase permanent magnet synchronous motor are in star connection, ia1+ ib1+ ic is 0; ia2+ ib2+ ic2 ═ 0; therefore, six phase currents of the windings of the two sets of star-connected three-phase permanent magnet synchronous motors are calculated through the two Hall current sensors, and the expression is as follows:
Figure BDA0003554523300000062
Figure BDA0003554523300000063
and step eight, according to the obtained six phase currents of the windings of the two sets of star-connected three-phase permanent magnet synchronous motors, the closed-loop control of the motors can be realized.
In the method, the six-phase current of the motor is completely reconstructed, and the closed-loop control of the motor can be realized according to the reconstructed phase current. Therefore, the method can provide a backup control strategy when the phase current sensor of the double-winding permanent magnet synchronous motor fails, realize the sensor fault-tolerant control of the motor system and improve the reliability of the new energy automobile.
Under the circuit topology of fig. 1, a seven-segment Space Vector Pulse Width Modulation (SVPWM) control motor is sampled by two windings respectively, and a schematic diagram of a PWM modulation strategy and a sampling point of a current sensor is shown in fig. 2. No phase difference exists between PWM signals of the two sets of windings, the two Hall current sensors are subjected to first current sampling at the middle moment of a PWM period respectively, the acting voltage vector is V7(111), the two Hall current sensors are subjected to second current sampling at the tail end of the PWM period respectively, the acting voltage vector is V0(000), and sampling of the two current sensors is completed at the middle moment of action of the two zero voltage vectors.
And analyzing the sampling results of the four branches under the action of two zero voltage vectors V7(111) and V0(000) to obtain the corresponding relation in the table 1. The three-phase currents of the first set of windings are ia1, ib1 and ic1, and the three-phase currents of the second set of windings are ia2, ib2 and ic 2.
TABLE 1 comparison table of branch sampling results
Figure BDA0003554523300000064
Figure BDA0003554523300000071
Therefore, under the table correspondence, the sampling result expressions obtained by the two hall current sensors at the first sampling (V7) and the second sampling (V0) are:
Figure BDA0003554523300000072
Figure BDA0003554523300000073
wherein the results of the current sensor (current sensor 1) tilted to the right at the first sampling (V7) and the second sampling (V0) are isam1_1 and isam1_ 2; the results of the left-side tilted current sensor (current sensor2) at the first sample (V7) and the second sample (V0) are isam2_1 and isam2_ 2.
According to the method, the three-phase winding of the motor is star-connected, so ia1+ ib1+ ic is 0; ia2+ ib2+ ic2 ═ 0. Thus, only two current sensors can be used for calculating six phase currents of two sets of windings, and the expression is as follows:
Figure BDA0003554523300000074
Figure BDA0003554523300000075
in this embodiment, the principle of the fault-tolerant control is as follows: when the double-winding permanent magnet synchronous motor has a phase current sensor fault, the method can be adopted to reconstruct the three-phase winding current by using the two Hall current sensors, so that the six-phase current of the motor is completely reconstructed, and the closed-loop control of the motor can be realized according to the reconstructed phase current. Therefore, the method can provide a backup control strategy when the phase current sensor of the double-winding permanent magnet synchronous motor fails, realize the sensor fault-tolerant control of the motor system and improve the reliability of the new energy automobile.
While the invention has been described with reference to several embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from its scope. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims (2)

1. The fault-tolerant control device of the double-winding permanent magnet synchronous motor current sensor is characterized by comprising two sets of star-connected three-phase permanent magnet synchronous motors and a driving circuit;
one set of the windings of the two sets of star-connected three-phase permanent magnet synchronous motors is as follows: a1, B1, C1; the other set is as follows: a2, B2, C2;
the driving circuit comprises 12 controllable power switching devices which are respectively named as: q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8, Q9, Q10, Q11, Q12; the drive circuit also comprises two direct current sources VDCAnd two Hall current sensors with through holes in the middle;
the emitter of the controllable power switch device Q1 is connected with the collector of Q2 in series, the emitter of the controllable power switch device Q3 is connected with the collector of Q4 in series, the emitter of the controllable power switch device Q5 is connected with the collector of Q6 in series, and the collectors of the controllable power switch devices Q1, Q3 and Q5 are connected with a direct current source V simultaneouslyDCThe emitters of the controllable power switching devices Q2, Q4 and Q6 are simultaneously connected with a direct current source VDCThe negative electrode of (1); a winding A1 of a set of star-connected three-phase permanent magnet synchronous motor is connected with an emitter of a controllable power switch device Q1, a winding B1 is connected with an emitter of a controllable power switch device Q3, and a winding C1 is connected with an emitter of a controllable power switch device Q5;
the emitter of the controllable power switch device Q7 is connected with the collector of Q8 in series, the emitter of the controllable power switch device Q9 is connected with the collector of Q10 in series, the emitter of the controllable power switch device Q11 is connected with the collector of Q12 in series, and the collectors of the controllable power switch devices Q7, Q9 and Q11 are connected with a direct current source V simultaneouslyDCThe emitters of the controllable power switching devices Q8, Q10 and Q12 are simultaneously connected with a direct current source VDCThe negative electrode of (1); a winding A2 of another set of star-connected three-phase permanent magnet synchronous motor is connected with an emitter of a controllable power switch device Q7, a winding B2 is connected with an emitter of a controllable power switch device Q9, and a winding C2 is connected with controllable powerThe emitter of rate switching device Q11;
the current path between the controllable power switch devices Q2 and Q4 is a branch (I), the current path between the controllable power switch devices Q4 and Q6 is a branch (II), the current path between the controllable power switch devices Q7 and Q9 is a branch (III), and the current path between the controllable power switch devices Q9 and Q11 is a branch (II);
a Hall current sensor with a through hole in the middle is used for collecting the sum of the currents of the first branch and the fourth branch; and the other Hall current sensor with a through hole in the middle is used for collecting the sum of the currents of the branch circuit II and the branch circuit III.
2. The fault-tolerant control method based on the fault-tolerant control device of the double-winding permanent magnet synchronous motor current sensor according to claim 1 is characterized by comprising the following steps:
step one, preparing a fault-tolerant control device of a double-winding permanent magnet synchronous motor current sensor, wherein three-phase currents of a first set of windings are ia1, ib1 and ic1, and three-phase currents of a second set of windings are ia2, ib2 and ic 2;
secondly, windings of two sets of star-connected three-phase permanent magnet synchronous motors respectively adopt a seven-segment Space Vector Pulse Width Modulation (SVPWM) technology to control the three-phase permanent magnet synchronous motors;
step three, ensuring that two sets of windings of the three-phase permanent magnet synchronous motor connected in a star shape have no phase difference, controlling the PWM signals of the two sets of windings to have no phase difference, respectively carrying out first current sampling on the two Hall current sensors at the middle moment of a PWM period, and recording the voltage vector acting at the moment as V7 (111);
step four, respectively carrying out secondary current sampling on the two Hall current sensors at the end of a PWM period, wherein the applied voltage vector is V0(000), and recording;
analyzing sampling results of the four branches under the action of two voltage vectors V7(111) and V0(000) to obtain:
in the branch circuit I, the sampling result of V7(111) is 0, and the sampling result of V0(000) is-ia 1;
in the branch (II), the sampling result of V7(111) is 0, and the sampling result of V0(000) is ic 1;
in branch c, the sampling result of V7(111) is-ia 2, and the sampling result of V0(000) is 0;
when the branch circuit is a branch circuit, the sampling result of V7(111) is ic2, and the sampling result of V0(000) is 0;
and step six, obtaining sampling result expressions of the two Hall current sensors in the first sampling (V7) and the second sampling (V0) according to the result of the step five, wherein the sampling result expressions are as follows:
Figure FDA0003554523290000021
Figure FDA0003554523290000022
the results of the first sampling (V7) and the second sampling (V0) of the Hall current sensor (current sensor 1) between the branches (R) are isam1_1 and isam1_ 2; the results of the first sampling (V7) and the second sampling (V0) of the Hall current sensor (current sensor2) between the branches (c) are isam2_1 and isam2_ 2;
seventhly, because the windings of the three-phase permanent magnet synchronous motor are in star connection, ia1+ ib1+ ic is 0; ia2+ ib2+ ic2 ═ 0; therefore, six phase currents of the windings of the two sets of star-connected three-phase permanent magnet synchronous motors are calculated through the two Hall current sensors, and the expression is as follows:
Figure FDA0003554523290000023
Figure FDA0003554523290000024
and step eight, finishing closed-loop control of the primary motor according to the obtained six phase currents of the windings of the two sets of star-connected three-phase permanent magnet synchronous motors.
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