CN114900081A - Permanent magnet synchronous motor drive control system and permanent magnet synchronous motor module - Google Patents
Permanent magnet synchronous motor drive control system and permanent magnet synchronous motor module Download PDFInfo
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- CN114900081A CN114900081A CN202210829500.0A CN202210829500A CN114900081A CN 114900081 A CN114900081 A CN 114900081A CN 202210829500 A CN202210829500 A CN 202210829500A CN 114900081 A CN114900081 A CN 114900081A
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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
- H02P6/28—Arrangements for controlling 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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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
- 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
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- 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
- Y02T10/64—Electric machine technologies in electromobility
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Abstract
The invention discloses a drive control system of a permanent magnet synchronous motor and a permanent magnet synchronous motor module. The drive control system comprises a plurality of drivers, each driver is correspondingly connected with one group of Y-shaped armature windings of the permanent magnet synchronous motor, the plurality of drivers comprise a master driver and a plurality of slave drivers, and the master driver is in communication connection with the slave drivers and the slave drivers. The invention has the characteristics of flexible use, good fault tolerance, quick development cycle and the like, and has wide application prospects in the aspects of wind power generation, hydroelectric power generation, new energy vehicles, underwater propulsion, aviation and the like.
Description
Technical Field
The invention belongs to the technical field of industrial control, relates to a permanent magnet synchronous motor, and particularly relates to a drive control system of the permanent magnet synchronous motor and a permanent magnet synchronous motor module.
Background
At present, along with the development of power electronic technology and the establishment of national low-carbon environmental protection development strategy, the application of a high-power electric drive system is more and more common, and compared with a common three-phase motor, the multi-Y winding motor has the advantages that: firstly, low-voltage and low-power grade devices can be used for realizing a low-voltage high-power transmission system and a high-power application occasion with limited power supply voltage; secondly, the redundancy effect of normal operation caused by burning out of part of windings can be achieved; finally, the current on the single winding can be reduced by realizing the same power, and the temperature rise of the motor is reduced.
The existing multi-phase motor driver for driving the multi-Y winding motor is a sampling-dedicated multi-phase motor driver, and the method has the following problems: firstly, the design process is complex, the power of the used power device is large, and the cost is high; secondly, the entire system cannot operate properly once such a drive fails; in addition, the motor can not be used for driving a common three-phase motor, and the application scene is single.
In view of the above, there is a need to develop a driving control system with simple design and development, low driver cost, high fault tolerance and flexible application in the field of high-power multi-Y winding motor control.
Disclosure of Invention
The invention mainly aims to provide a driving control system of a permanent magnet synchronous motor and a permanent magnet synchronous motor module, thereby overcoming the defects of the prior art.
In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps: a drive control system of a permanent magnet synchronous motor, comprising:
the drive control system is connected with the permanent magnet synchronous motor and comprises a plurality of drivers, each driver is correspondingly connected with a group of Y-shaped armature windings of the permanent magnet synchronous motor, the plurality of drivers comprise a master driver and a plurality of slave drivers, and the master driver and the slave drivers are in communication connection;
the master driver is used for acquiring the rotor position information of the permanent magnet synchronous motor, calculating to obtain a driving current set value of each driver, sending the rotor position information and the driving current set value to all the slave drivers, carrying out current closed-loop control according to the rotor position information and the driving current set value, and outputting three-phase current to the permanent magnet synchronous motor;
and the slave driver is used for acquiring the rotor position information and the driving current set value which are transmitted by the main driver, carrying out current closed-loop control according to the rotor position information and the driving current set value, and outputting three-phase current to the permanent magnet synchronous motor.
In a preferred embodiment, each driver is connected with a corresponding Y-shaped armature winding through a set of three-phase output lines, the permanent magnet synchronous motor comprises a plurality of sets of Y-shaped armature windings with independent central points and a rotor, and the Y-shaped armature windings are uniformly distributed in the permanent magnet synchronous motor.
In a preferred embodiment, the master drive and the slave drive are communicatively connected by a high-speed communication bus.
In a preferred embodiment, the main driver is configured to calculate a rotation speed of the permanent magnet synchronous motor according to the rotor position information and a pole pair number of the rotor, calculate a total set value of the driving current based on the rotation speed and a closed-loop control algorithm, and obtain the set value of the driving current through a driving current distribution algorithm.
In a preferred embodiment, the slave driver is used for calculating according to the rotor position information by using a driver angle correction algorithm, performing current closed-loop control based on the position information and a drive current set value, and outputting three-phase current to the permanent magnet synchronous motor.
In a preferred embodiment, each of the master driver and the slave driver comprises a fault processing module, and the fault processing module in the master driver is used for eliminating the slave driver from continuing to work by using a driver fault processing algorithm when the slave driver is damaged; and the fault processing module in the slave driver is used for automatically switching any slave driver to work continuously as the master driver by using a driver fault processing algorithm when the master driver is damaged.
In a preferred embodiment, the given value of the driving current = given total value of the driving current/m, where m is the total number of drivers operating normally in the driving control system, and is a positive integer greater than or equal to 1 and less than or equal to the total number of drivers.
In a preferred embodiment, the master driver is further configured to periodically send heartbeat signals to each slave driver, the slave drivers are further configured to feed back heartbeat response signals to the master driver, if the master driver does not receive heartbeat response signals of k slave drivers within a set time, the k slave drivers are considered to be in a working failure, and the master driver automatically adjusts m = m-k when implementing the driving current distribution algorithm, where k is a positive integer from 1 to m; and if the slave driver connected with the main driver fails again after becoming the main driver, the downstream slave driver connected with the slave driver is switched to become the main driver, and the like.
In a preferred embodiment, the actual current closed-loop control position information θ '= θ + i Δ θ + [ theta ]', where θ is the electrical angle of the rotor, θ = (P × 360 °/n)/360, P is the pole pair number of the motor rotor, P is a positive integer, θ 'is the electrical angle deviation of the Y-type armature windings of two adjacent sets, Δ θ' is the electrical angle deviation caused by the installation error of the Y-type armature winding of the ith set, and i is a positive integer of 2-n
In a preferred embodiment, the main drive acquires the rotor position information using a position sensorless algorithm or by an angular encoder.
A permanent magnet synchronous motor module comprises a permanent magnet synchronous motor and a drive control system.
Compared with the prior art, the invention has the beneficial effects that:
1. on one hand, the invention can effectively solve the problems that no special drive controller for matching the multi-Y winding permanent magnet synchronous motor exists in the market, and the special driver designed by self-research is difficult to design and has high cost; the driver can independently control the common three-phase motor, can form a driving control system, and controls the multi-Y winding permanent magnet synchronous motor through linkage of the multi-driver, so that the application flexibility is high, and the problem that the application scene of the driver is limited due to the fact that a special single driver is designed for controlling the multi-Y winding permanent magnet synchronous motor is solved.
2. The invention can solve the problem that the whole system can not normally run due to the damage of partial drivers or windings in a multi-driver linkage control mode, and when partial drivers in the whole system have faults, the driver fault processing module automatically processes and restores the normal operation.
3. The driving control system of the multi-Y winding permanent magnet synchronous motor has the characteristics of flexible use, good fault tolerance, quick development period and the like, and has wide application prospects in the aspects of wind power generation, hydroelectric generation, new energy automobiles, underwater propulsion, aviation and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of a drive control system according to an embodiment of the present invention;
FIG. 2 is an internal block diagram of a main drive according to an embodiment of the present invention;
fig. 3 is an internal structural view of a slave driver according to an embodiment of the present invention.
Detailed Description
Detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which can be embodied in various forms. Therefore, specific functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed embodiment.
According to the drive control system of the permanent magnet synchronous motor, the drive control system is formed by the plurality of drivers, the multi-Y winding permanent magnet synchronous motor is controlled in a linkage mode through the plurality of drivers, the application flexibility is high, and the problem that the application scene of the drivers is limited due to the fact that special single drivers are designed for controlling the multi-Y winding permanent magnet synchronous motor is solved.
As shown in fig. 1, a driving control system of a permanent magnet synchronous motor according to an embodiment of the present invention is connected to the permanent magnet synchronous motor, specifically, in this embodiment, the driving control system includes n drivers, and correspondingly, the permanent magnet synchronous motor includes n groups of Y-shaped armature windings, the n groups of Y-shaped armature windings are uniformly distributed in the permanent magnet synchronous motor, each driver is correspondingly connected to one group of Y-shaped armature windings, specifically, connected to one group of U, V, W three-phase output lines, that is, the driving control system is connected to the permanent magnet synchronous motor through n groups of U, V, W three-phase output lines. In addition, the permanent magnet synchronous motor also comprises a rotor, the number of pole pairs of the rotor is P, and P is a positive integer.
The n drivers are composed of 1 master driver and n-1 slave drivers, and the master driver is connected with the slave drivers and the slave drivers in a communication manner, specifically, in this embodiment, the master driver is connected with the slave drivers through a high-speed communication bus. For convenience of description, the master drive is numbered as drive 1, the slave drives are numbered from 2 to n, i.e., between the master drive 1 and the slave drive 2, and between the slave drive 2 and the slave drive 3, and between the slave drive 3 and the slave drive 4 … …, the slave drive n-1 and the slave drive n are respectively connected through a high-speed communication bus, wherein n is a positive integer greater than or equal to 1. In practice, high speed communication bus connections include, but are not limited to, CAN bus, ethernet, etc.
The main driver is connected with a first group of Y-shaped armature windings of the permanent magnet synchronous motor through a group of U, V, W three-phase output lines, each slave driver is connected with a group of Y-shaped armature windings of the permanent magnet synchronous motor through a group of U, V, W three-phase output lines, namely, the slave driver 1 is connected with a second group of Y-shaped armature windings through a group of U, V, W three-phase output lines, and so on.
The internal structure diagram of the master driver is shown in fig. 2, the master driver is used for obtaining rotor position information of the permanent magnet synchronous motor, obtaining a driving current set value of each driver through calculation, sending the rotor position information and the driving current set value to all slave drivers, performing current closed-loop control according to the rotor position information and the driving current set value, and outputting three-phase current to the permanent magnet synchronous motor. Specifically, in this embodiment, the rotor position information is specifically a rotor electrical angle θ, and in implementation, the main driver may obtain the rotor electrical angle θ through a position-sensorless algorithm or through an angle encoder. In addition, when implemented, the position sensorless algorithm includes, but is not limited to, any one of a stator inductance method, a speed independent function method, a back emf method, a fundamental wave potential commutation method, a state observer method, and the like, and the back emf method is used in this embodiment.
The main driver specifically calculates the motor rotating speed omega based on the rotor electrical angle theta and the pole pair number P of the rotor, then operates a rotating speed closed-loop control algorithm based on the motor rotating speed omega to calculate a total set value Is of driving current, and obtains a set value Is' of driving current of each driver through a driving current distribution algorithm. Preferably, the main driver averagely distributes a driving current given value Is required by driving the multi-Y winding permanent magnet synchronous motor to all normally-operating drivers for respective current closed-loop control, and the driving current given value Is' = a driving current total given value Is/m distributed by each driver, wherein m Is the total number of the normally-operating drivers in the driving control system and Is a positive integer from 1 to n.
The internal structure diagram of the slave driver Is shown in fig. 3, and the slave driver Is used for acquiring the rotor electrical angle theta and the driving current set value Is 'transmitted by the master driver, performing current closed-loop control according to the rotor electrical angle theta and the driving current set value Is', and outputting three-phase current to the permanent magnet synchronous motor. Specifically, the slave driver obtains the rotor electrical angle theta and the driving current set value Is 'shared by the master driver through a high-speed communication bus, calculates the actual current closed-loop control electrical angle theta' of the current slave driver by using a driver angle correction algorithm based on the rotor electrical angle theta, performs current closed-loop control based on the theta 'and the driving current set value Is', and finally outputs three-phase currents of U, V and W to the permanent magnet synchronous motor. In this embodiment, in the driving control system, the ith station controls the electrical angle θ ' = θ + i × θ + [ theta ] from the actual current closed loop of the driver, where θ = (P × 360 °/n)% 360, θ ' is the electrical angle deviation of the Y-type armature windings in the two adjacent sets, Δ θ ' is the electrical angle deviation value caused by the installation error of the Y-type armature windings in the ith set, and i is a positive integer of 2-n.
Preferably, the master driver and the slave driver each comprise a fault handling module, wherein the fault handling module in the master driver is used for eliminating the slave driver from continuing to work by using a driver fault handling algorithm when the slave driver is damaged; and the fault processing module in the slave driver is used for automatically switching any slave driver to work continuously as the master driver by using a driver fault processing algorithm when the master driver is damaged.
Further, in the above drive control system, the master driver periodically sends heartbeat signals to each slave driver through the high-speed communication bus, the slave drivers feed back heartbeat response signals to the master driver, if the master driver does not receive heartbeat response signals of k slave drivers within a predetermined time, it is determined that the k slave drivers are in a working failure, and the master driver automatically adjusts m = m-k when implementing a drive current distribution algorithm, where k is a positive integer between 1 and m. All the slave drivers periodically synchronize through the high-speed communication bus whether the heartbeat signal which has received the master driver is received within a preset time, if the heartbeat signal which has not received the master driver is not received, the drive control system considers that the master driver has a working failure, and the slave driver 1 connected with the master driver is automatically switched into the master driver. If the slave drive 1 becomes the master drive and then fails again, the next numbered slave drive 2 is switched to become the master, and so on.
Further, the driver fault processing algorithm, the angle correction algorithm, the position sensorless algorithm and the driving current distribution algorithm in the driving control system can be realized by devices such as a DSP, an ARM, a single chip microcomputer, a CPLD or an FPGA, and the present embodiment is realized by using the DSP.
Further, the embodiment also constructs a permanent magnet synchronous motor module, which includes the aforementioned permanent magnet synchronous motor and the aforementioned drive control system.
The scheme of the embodiment has the following advantages:
1. on one hand, the problems that a special drive controller for matching a multi-Y winding permanent magnet synchronous motor is not available in the market, and the design of the special drive is difficult and the cost is high in self-research design can be effectively solved; and the driver can independently control the common three-phase motor and can form a driving control system, and the multi-Y winding permanent magnet synchronous motor is controlled by the multi-driver linkage, so that the application flexibility is high, and the problem that the application scene of the driver is limited due to the fact that a special single driver is designed for controlling the multi-Y winding permanent magnet synchronous motor is solved.
2. The problem that the whole system cannot normally run due to the damage of partial drivers or windings can be solved through a multi-driver linkage control mode.
3. The drive control system of the multi-Y winding permanent magnet synchronous motor has the characteristics of flexibility in use, good fault tolerance, quick development period and the like, and has wide application prospects in the aspects of wind power generation, hydroelectric power generation, new energy automobiles, underwater propulsion, aviation and the like.
The aspects, embodiments, features and examples of the present invention should be considered illustrative in all respects and not restrictive, the scope of the invention being defined solely by the claims. Other embodiments, modifications, and uses will be apparent to those skilled in the art without departing from the spirit and scope of the claimed invention.
The use of headings and chapters in this disclosure is not meant to limit the disclosure; each section may apply to any aspect, embodiment, or feature of the disclosure.
Claims (10)
1. A drive control system of a permanent magnet synchronous motor is characterized in that,
the drive control system is connected with the permanent magnet synchronous motor and comprises a plurality of drivers, each driver is correspondingly connected with a group of Y-shaped armature windings of the permanent magnet synchronous motor, the plurality of drivers comprise a master driver and a plurality of slave drivers, and the master driver and the slave drivers are in communication connection;
the master driver is used for acquiring the rotor position information of the permanent magnet synchronous motor, calculating to obtain a driving current set value of each driver, sending the rotor position information and the driving current set value to all the slave drivers, carrying out current closed-loop control according to the rotor position information and the driving current set value, and outputting three-phase current to the permanent magnet synchronous motor;
and the slave driver is used for acquiring the rotor position information and the driving current set value which are transmitted by the main driver, carrying out current closed-loop control according to the rotor position information and the driving current set value, and outputting three-phase current to the permanent magnet synchronous motor.
2. The drive control system of a permanent magnet synchronous motor according to claim 1, characterized in that: each driver is connected with a corresponding Y-shaped armature winding through a group of three-phase output lines, the permanent magnet synchronous motor comprises a plurality of sets of Y-shaped armature windings and a rotor, the central points of the Y-shaped armature windings are independent, and the Y-shaped armature windings are uniformly distributed in the permanent magnet synchronous motor.
3. The drive control system of a permanent magnet synchronous motor according to claim 1, characterized in that: the master driver and the slave driver are in communication connection through a high-speed communication bus; and/or the main driver acquires the rotor position information by using a position sensorless algorithm or through an angle encoder.
4. The drive control system of a permanent magnet synchronous motor according to claim 2, characterized in that: the main driver is used for calculating the rotating speed of the permanent magnet synchronous motor according to the rotor position information and the pole pair number of the rotor, calculating to obtain a total set value of the driving current based on the calculated rotating speed and a rotating speed closed-loop control algorithm, and obtaining the set value of the driving current through a driving current distribution algorithm.
5. The drive control system of a permanent magnet synchronous motor according to claim 1, characterized in that: the slave driver is used for calculating according to the rotor position information by using a driver angle correction algorithm, carrying out current closed-loop control based on the position information and a driving current set value, and outputting three-phase current to the permanent magnet synchronous motor.
6. The drive control system of a permanent magnet synchronous motor according to claim 1, characterized in that: the master driver and the slave driver respectively comprise a fault processing module, and the fault processing module in the master driver is used for eliminating the slave driver from continuing to work by using a driver fault processing algorithm when the slave driver is damaged; and the fault processing module in the slave driver is used for automatically switching any slave driver to work continuously as the master driver by using a driver fault processing algorithm when the master driver is damaged.
7. The drive control system of a permanent magnet synchronous motor according to claim 4, characterized in that: the given value of the driving current = given total value/m of the driving current, wherein m is the total number of drivers which normally work in the driving control system, and is a positive integer which is greater than or equal to 1 and less than or equal to the total number of the drivers.
8. The drive control system of a permanent magnet synchronous motor according to claim 7, characterized in that: the main driver is further used for periodically sending heartbeat signals to each slave driver, the slave drivers are further used for feeding back heartbeat response signals to the main driver, if the main driver does not receive the heartbeat response signals of the k slave drivers within a set time, the k slave drivers are considered to be in a working fault, and the main driver automatically adjusts m = m-k when the driving current distribution algorithm is realized, wherein k is a positive integer between 1 and m; and if the slave driver connected with the main driver fails again after becoming the main driver, the downstream slave driver connected with the slave driver is switched to become the main driver, and the like.
9. The drive control system of a permanent magnet synchronous motor according to claim 5, characterized in that: the current actual current closed-loop control position information of the slave driver is theta' = theta + i Δ θ + [ theta ], wherein [ theta ] is the electrical angle of the rotor, [ theta ] = (P × 360 °/n)% 360, P is the pole number of the motor rotor, P is a positive integer, [ theta ] is the installation electrical angle deviation of two adjacent groups of Y-shaped armature windings, Δ [ theta ] is the electrical angle deviation value caused by the installation error of the ith set of Y-shaped armature windings, and i is a positive integer of 2-n.
10. A permanent magnet synchronous motor module characterized by comprising a permanent magnet synchronous motor and a drive control system according to any one of claims 1 to 9.
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