CN115987165A - Open-circuit fault-tolerant control method for three-phase permanent magnet synchronous motor driving system - Google Patents
Open-circuit fault-tolerant control method for three-phase permanent magnet synchronous motor driving system Download PDFInfo
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Abstract
The invention discloses an open-circuit fault-tolerant control method for a three-phase permanent magnet synchronous motor driving system, and relates to the field of synchronous motor fault-tolerant control. After a fault occurs, a fault-tolerant current reference value is optimized by introducing average copper loss of a current fundamental wave period to realize copper loss constraint, motor current commutation and torque ripple reduction. And finally, detecting whether the average copper loss of the motor exceeds a specified maximum copper loss threshold value by calculating the average copper loss to update the fault-tolerant reference current of the motor in real time, so that the fault-tolerant capability and the current tracking precision of the three-phase permanent magnet synchronous motor driving system are improved, and the torque ripple and the copper loss of fault-tolerant operation are reduced.
Description
Technical Field
The invention belongs to the technical field of synchronous motor fault-tolerant control, and particularly relates to an open-circuit fault-tolerant control method for a three-phase permanent magnet synchronous motor driving system.
Background
The open-phase fault and the open-circuit fault of the switching tube are common electrical faults in the motor, when the open-phase fault and the open-circuit fault of the switching tube occur to the motor, the motor cannot be stopped immediately, but the motor can generate a series of motor fault characteristics, such as torque pulsation, motor overheating and the like, and even secondary fault can be caused if the fault postprocessing is not performed, and finally the motor driving system is crashed.
In order to improve the fault-tolerant control performance of the motor, some auxiliary circuit facilities are used in a three-phase motor driving system, and the fault-tolerant control performance is improved by changing the topological structure of the motor driving system so that the current circulation path is increased. Meanwhile, the open winding facility is widely used, so that each phase of current of the motor can be independently controlled, and the fault-tolerant control performance of the three-phase motor is greatly enhanced.
In order to reduce torque and flux linkage control errors, the existing research establishes a motor mathematical model after the phase failure by analyzing the characteristics of the motor after the failure, and provides a predictive control method to control the motor after the failure, so that the fault-tolerant control performance of the motor is greatly improved, and the torque output and flux linkage control errors of the motor are reduced.
However, the prior art still has disadvantages, and firstly, these auxiliary circuit facilities and open winding facilities still may fail and increase the system cost and complexity, which is not favorable for the popularization and use of the method; secondly, the current research mainly focuses on the research of a fault-tolerant control method for a phase-failure fault and an open-circuit fault of a switching tube, and the methods do not consider the copper loss factor after the motor fails, so that the copper loss of the motor can be increased by using the fault-tolerant control method, and the operation efficiency of the motor under the fault can be reduced.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an open-circuit fault-tolerant control method for a three-phase permanent magnet synchronous motor driving system, which completes fault-tolerant control on open-phase faults and open-circuit faults of a switching tube by reconstructing reference current of the motor driving system after the faults. Under the phase-failure fault, the reference current under the phase-failure fault is determined through a motor torque instruction and a motor torque formula, the average copper loss of the motor in one current fundamental wave period is solved, and then the new reference current considering current commutation and the motor copper loss is solved. For the open-circuit fault of the switching tube, on the basis of the fault-tolerant control of the open-phase fault, the current reference value is unchanged during normal operation, and during fault operation, the current reference value during the fault-tolerant control operation of the motor is the same as the current reference value during the fault-tolerant control operation of the open-phase fault.
(II) technical scheme
In order to realize the purpose, the invention is realized by the following technical scheme:
an open-circuit fault-tolerant control method for a three-phase permanent magnet synchronous motor driving system comprises the following steps:
open-circuit faults of a three-phase permanent magnet synchronous motor driving system refer to open-phase faults and open-circuit faults of a switching tube, and are based on dq-axis current expressions, torque formulas of surface-mounted permanent magnet synchronous motors, current suppression requirements and motor torque instructions during open-phase fault operation
Obtaining a phase current reference value during open-phase fault-tolerant operation, and obtaining a new dq-axis fault-tolerant current reference value through dq-axis current expression coordinate transformation to realize the minimum pulse of theoretical torque during open-phase fault-tolerant operation;
considering that current commutation cannot be completed instantly, calculating the angle required by current commutation by calculating the minimum time required by current commutation to obtain a current reference value meeting the current commutation, and substituting the current reference value into a phase current reference value to obtain a phase current reference value considering the current commutation under the condition of new open-phase fault-tolerant operation;
obtaining an expression of a copper loss factor by calculating average copper loss power and mechanical power, wherein the copper loss factor is in positive correlation with the average copper loss, then obtaining a phase current reference value considering the copper loss by utilizing a torque formula and a copper loss formula, changing the phase current reference value by changing the copper loss factor to further change the average copper loss, and then changing the average copper loss and a torque instruction
Combining the obtained phase current reference values under the phase-loss fault-tolerant operation condition to obtain a phase current reference value under the phase-loss fault-tolerant operation condition considering copper loss;
by combining the current commutation angle, an expression of a copper loss factor considering the current commutation can be obtained, and the expression is used as an initial value of a phase current reference value under the condition of phase-lacking fault tolerant operation considering the copper loss, so that the phase current reference value is the initial value of the phase current reference value under the condition of phase-lacking fault tolerant operation considering the current commutation and the copper loss;
considering the maximum upper limit of the copper loss of the motor, a PI controller is introduced to calculate an optimal copper loss factor, the maximum value of the copper loss factor is the copper loss factor considering current commutation, when the average copper loss exceeds the upper limit value of the copper loss factor, the copper loss factor is reduced to reduce the average copper loss until the average copper loss factor is equal to the average copper loss upper limit, the copper loss factor is the optimal copper loss factor at the moment, and the optimal copper loss factor is brought into a phase current reference value under the phase-defect fault-tolerant operation condition considering current commutation and copper loss, so that the optimal phase current reference value under the phase-defect fault-tolerant operation condition considering current commutation and copper loss can be obtained;
and for the open-circuit fault of the switching tube, implementing a two-mode fault-tolerant control method for the open-circuit fault of the switching tube to realize fault-tolerant control based on the phase current reference value during the phase-missing fault-tolerant operation.
Further, the dq axis current expression and the torque formula of the surface-mounted permanent magnet synchronous motor during phase-loss fault operation are specifically as follows:
wherein assume phase A as a phase-loss fault phase, i B Showing the phase B current; i.e. i d 、i q Respectively, as dq-axis currents; n is a radical of p Representing the number of pole pairs of the motor; t is a unit of e Representing motor torque; psi f Is the permanent magnetic flux linkage amplitude; theta e Representing electrical angular position information of the rotor of the electrical machine.
Further, based on phase failureDq-axis current expression during fault operation, torque formula of surface-mounted permanent magnet synchronous motor, current suppression requirement and motor torque command
The phase current reference value obtained during the phase-missing fault-tolerant operation is specifically as follows:
wherein->
For taking into account only the motor torque command->
Obtaining a phase current reference value during phase-missing fault-tolerant operation;
The phase current reference value is a phase current reference value added with current suppression requirements during open-phase fault-tolerant operation; i is max The maximum current amplitude of the motor current.
Further, the minimum time required for current commutation specifically is:
wherein T is ct The minimum commutation time; l is a radical of an alcohol s Is a motor stator inductance; u shape dc Is the dc bus voltage.
Further, the current commutation angle is specifically: theta.theta. c ＝ω e T ct (ii) a Wherein theta is c Is the current commutation angle; omega e Is the electrical angular velocity of the motor.
Further, the phase current reference values considering current commutation are specifically:
wherein
Phase current reference values to account for current commutations;
A current reference value to satisfy current commutation;
the current turning point, which is the point at which the phase current reference value increases after taking into account the current commutation.
Further, an expression of the copper loss factor is obtained by averaging the copper loss power and the mechanical power, and specifically is as follows:
wherein P is cu 、P Te Average copper loss power and mechanical power respectively; r s A motor stator resistor; n is the motor speed; r Cu Is a copper loss factor.
Further, the phase current reference value under the phase-loss fault-tolerant operation condition considering copper loss and current commutation specifically includes:
wherein +>
Phase current reference values to account for copper losses;
The phase current reference value under the condition of phase-lacking fault-tolerant operation considering copper loss and current commutation is provided.
Further, the average copper loss under the open-phase fault-tolerant operation is specifically as follows:
wherein->
Respectively, turning points of the phase current reference value after considering copper loss.
Further, the initial value of the copper loss factor is specifically as follows:
wherein C is cu_in Expressed as the initial value of the copper loss factor;
when the open-phase fault-tolerant control is operated, a PI controller is introduced to calculate an optimal copper loss factor, the maximum value of the copper loss factor is the copper loss factor considering current commutation, when the average copper loss exceeds the upper limit value of the copper loss factor, the copper loss factor is reduced to reduce the average copper loss until the average copper loss is equal to the upper limit value of the average copper loss, and the copper loss factor is the optimal copper loss factor;
the switch tube open-circuit fault two-mode fault toleranceA control method; assuming that an a-phase tube fault occurs, in a normal operation mode, the current reference value is unchanged, and in a fault operation mode, the current reference value is equal to the default-phase fault-tolerant current reference value, specifically:
wherein->
The dq axis reference currents are respectively used during open-circuit fault-tolerant operation of the switching tube; sin theta e >0 indicates that the motor is in normal operation; sin theta e <0 represents that the motor is in fault tolerant operation;
for a switching tube fault: during fault tolerant operation, the average copper loss does not exceed its threshold, so the optimal copper loss factor is equal to the initial value of the copper loss factor.
The principle of the invention is as follows: on one hand, the open-circuit fault-tolerant control method for the three-phase permanent magnet synchronous motor driving system is provided, and comprises the following steps:
dq axis current expression after open phase fault:
suppose phase-loss fault occurs in phase A, so phase A current 0,B and phase A current are opposite numbers.
The motor torque expression after the phase failure:
obtaining a phase current reference value of fault-tolerant operation through a motor torque instruction:
the maximum amplitude of the current which can be borne by the motor is considered at the same time, and the theoretical minimum torque ripple of the motor during open-phase fault operation can be achieved; but does not take into account current commutation, currentThe tracking precision is poor, and negative torque output exists.
Consider the current commutation minimum time:
considering the current commutation minimum angle: theta c ＝ω e T ct 。
Phase current reference values considering current commutation:
by considering the current commutation factor, the current tracking precision of the fault-tolerant operation of the phase-lacking fault of the motor can be greatly improved, the torque output performance is improved, but the copper loss of the motor is not considered, and the motor efficiency is reduced.
Average copper loss power and mechanical power of the motor:
the copper loss factor of the motor:
phase current reference considering only copper losses:
considering phase current reference values under the condition of copper loss, open-phase fault-tolerant operation of current commutation:
by adjusting the copper loss factor, the current commutation can be realized and the average copper loss of the motor can be adjusted.
Average copper loss under open-phase fault-tolerant operation:
initial value of copper loss factor:
by substituting the copper loss factor initial value into the phase current reference value, current commutation can be achieved.
Solving the optimal copper loss factor: the initial value of the copper loss factor is used as the maximum value of the copper loss factor, and when the solved average copper loss is smaller than a specified value, the optimal copper loss factor is equal to the initial value of the copper loss factor; when the average copper loss is found to be greater than a specified value, the copper loss factor should be reduced. To solve for the optimal copper loss factor: and introducing a PI controller to solve the optimal copper loss factor, wherein the output maximum value is the initial value of the copper loss factor. And when the average copper loss is smaller than the specified value, the PI controller outputs an initial value of the copper loss factor as an optimal value, and when the solved average copper loss is larger than the specified value, the PI controller outputs the copper loss factor to be gradually reduced until the average copper loss is equal to the specified value.
Two-mode fault-tolerant control of open circuit fault of a switching tube:
assuming that a phase a tube fault has occurred, in the normal operation mode the current reference is unchanged. In the fault operation mode, the current reference value is equal to the default phase fault-tolerant current reference value.
The invention has the following beneficial effects:
according to the open-circuit fault-tolerant control method for the three-phase permanent magnet synchronous motor driving system based on current reference value reconstruction, fault-tolerant control can be completed only by changing the current reference value of the motor driving system, and a control framework of the motor driving control system under the normal operation condition can still be used for fault-tolerant operation. The fault-tolerant control method does not use any auxiliary circuit facilities, so that the economic cost is reduced. The proposed fault-tolerant control method can reduce the current tracking error caused by the current commutation which cannot be completed immediately; copper loss during fault-tolerant operation of the motor can be restrained by introducing a copper loss factor, so that the fault-tolerant operation of the motor cannot exceed the set maximum copper loss upper limit. The stability of fault-tolerant operation of the motor is improved by introducing the reference current of the PI controller during real-time optimization of the fault-tolerant control of the motor. By adopting the optimized fault-tolerant reference current, the requirement of current commutation can be met, the current tracking error is reduced, the negative torque is eliminated, and the copper loss of the motor and the output torque of the motor reach a good balance.
Drawings
Fig. 1 is a schematic diagram of a three-phase motor drive control system employed.
Fig. 2 is a flow chart of the open-circuit fault tolerance control method for the permanent magnet synchronous motor driving system according to the invention.
FIG. 3 is based on torque commands
And obtaining a phase current reference value graph during open-phase fault-tolerant operation.
Fig. 4 is a graph of phase current reference values using current commutation in fault tolerant operation with open phase fault.
Fig. 5 is a fault tolerance performance graph of phase current reference values using different copper loss factors at open phase fault tolerance operation.
Fig. 6 is a fault-tolerant performance diagram of the two-mode fault-tolerant control method during the open-circuit fault operation of the switching tube.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the specification, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, belong to the scope of the present invention.
As shown in fig. 1, the present embodiment relates to a three-phase permanent magnet synchronous motor driving system, including: a current command generating unit, a reference voltage generating unit, a signal generating unit, a power driving unit, a current detecting/converting unit, a position/velocity detecting unit, whichThe method comprises the following steps: the current command generating means generates a torque command based on the torque command
Obtain the reference current->
The reference voltage generation unit is based on the reference current->
And i of feedback d 、i q Calculates to obtain a voltage command>
The signal generating unit is based on the reference voltage
Modulating to obtain a driving signal; the power driving unit drives the motor to operate according to the driving signal; the current detection conversion unit collects current signals and performs coordinate conversion; the position and speed detection unit is used for acquiring position information theta and rotation speed information omega of the motor e 。
As shown in fig. 2, the method for controlling open-circuit fault tolerance of a three-phase permanent magnet synchronous motor driving system based on the above system in this embodiment specifically includes:
s1: assuming that a phase-loss fault occurs in phase A, under fault-tolerant operation, based on a torque command
Obtaining a phase current reference value of fault-tolerant operation:
Based on the torque command, as shown in FIG. 3
When the current is commutated, the current needs to be commutated immediately, so that the current tracking error of the motor is increased, and the torque output performance of the motor is deteriorated.
S2: based on torque command
The obtained phase current reference value of fault-tolerant operation must enable the current of the motor in fault-tolerant control operation to be instantaneously commutated in commutation in order to achieve the theoretical minimum torque ripple, but the actual motor system cannot achieve the aim. The commutation angle must therefore be taken into account when the motor is operated with fault-tolerant control. By solving for the commutation time:
the commutation angle can also be solved: theta c ＝ω e T ct . By solving for the commutation angle, the fault-tolerant control run reference current when considering current commutation can be solved:
By considering the current commutation factor, the current tracking precision of the fault-tolerant operation of the phase-lacking fault of the motor can be greatly improved, the torque output performance is improved, but the copper loss of the motor is not considered, and the motor efficiency is reduced.
As shown in fig. 4: based on torque commands
And compared with the phase current reference value during the phase-failure fault-tolerant operation, the current commutation time of the phase current reference value considering current commutation is prolonged during the phase-failure fault-tolerant operation, and the starting commutation angle of the motor is advanced. />
S3: by introducing copper losses and mechanical power:
the motor copper loss factor can be expressed as:
Then, through a torque formula:
And a coordinate transformation formula:
The phase current reference value considering only copper loss can be solved:
It can be seen from the equation that the motor copper loss can be varied by varying the copper loss factor, so that in order to reduce the copper loss->
Should also be selected as the phase current reference value and should be as small as possible. Thus->
And &>
A smaller than absolute value should be prioritized as a reference value. Therefore, the phase current reference value under the condition of phase-lacking fault-tolerant operation considering copper loss and current commutation can be represented as follows:
By adjusting the copper loss factor, the current commutation can be realized and the average copper loss of the motor can be adjusted.
As shown in fig. 5: by changing the copper loss factor, the phase current reference value is changed when the motor fault tolerance runs, and meanwhile, the current commutation can be completed by changing the copper loss factor. By changing the copper loss factor, the average copper loss of the motor can be changed, and the smaller the copper loss factor, the smaller the average copper loss of the motor.
S4: by calculating the average copper loss of one current fundamental period:
S5: the obtained optimal copper loss factor is brought into
The optimal fault-tolerant control phase current reference value running under the phase-failure fault can be obtained.
S6: and obtaining the optimal fault-tolerant control dq axis current reference value running under the phase-failure fault through coordinate transformation of the obtained optimal fault-tolerant control phase current reference value running under the phase-failure fault, and substituting the optimal fault-tolerant control dq axis current reference value into a control system to finish the fault-tolerant control running.
For the open-circuit fault of the switching tube, a two-mode fault-tolerant control method is adopted:
assuming that a phase a tube fault has occurred, in the normal operation mode the current reference is unchanged. In a fault operation mode, the current reference value is equal to the default phase fault-tolerant current reference value, and fault-tolerant control operation can be completed by substituting the obtained dq-axis current reference value into the control system.
As shown in fig. 6, the current reference value of the open-circuit fault of the switch tube is changed only when the fault runs, and the remaining healthy switch tubes are fully utilized to control the motor by the fault-tolerant control method.
In the steps, the torque ripple, the current tracking precision and the motor copper loss factor during the fault-tolerant operation of the motor are considered in the proposed fault-tolerant control, and the proposed open-circuit fault-tolerant control method for the three-phase permanent magnet synchronous motor driving system can effectively reduce the motor torque ripple, the current tracking precision error and the motor average copper loss during the fault-tolerant operation, and improve the safety and the reliability of the system.
Claims (10)
1. An open-circuit fault-tolerant control method for a three-phase permanent magnet synchronous motor driving system is characterized by comprising the following steps:
open-circuit faults of a three-phase permanent magnet synchronous motor driving system refer to open-phase faults and open-circuit faults of a switching tube, and are based on dq-axis current expressions, torque formulas of surface-mounted permanent magnet synchronous motors, current suppression requirements and motor torque instructions during open-phase fault operation
Obtaining a phase current reference value during open-phase fault-tolerant operation, and obtaining a new dq-axis fault-tolerant current reference value through dq-axis current expression coordinate transformation to realize the minimum pulse of theoretical torque during open-phase fault-tolerant operation;
considering that current commutation cannot be completed instantly, calculating the angle required by current commutation by calculating the minimum time required by current commutation to obtain a current reference value meeting the current commutation, and substituting the current reference value into a phase current reference value to obtain a phase current reference value considering the current commutation under the condition of new open-phase fault-tolerant operation;
obtaining an expression of a copper loss factor by calculating average copper loss power and mechanical power, wherein the copper loss factor is in positive correlation with the average copper loss, then obtaining a phase current reference value considering the copper loss by utilizing a torque formula and a copper loss formula, changing the phase current reference value by changing the copper loss factor to further change the average copper loss, and then changing the average copper loss and a torque instruction
Combining the obtained phase current reference values under the phase-loss fault-tolerant operation condition to obtain a phase current reference value under the phase-loss fault-tolerant operation condition considering copper loss;
by combining the current commutation angle, an expression of a copper loss factor considering the current commutation can be obtained, and the expression is used as an initial value of a phase current reference value under the condition of phase-lacking fault tolerant operation considering the copper loss, so that the phase current reference value is the initial value of the phase current reference value under the condition of phase-lacking fault tolerant operation considering the current commutation and the copper loss;
considering the maximum upper limit of copper loss of the motor, a PI controller is introduced to calculate an optimal copper loss factor, the maximum value of the copper loss factor is the copper loss factor considering current commutation, when the average copper loss exceeds the upper limit value of the copper loss factor, the copper loss factor is reduced to reduce the average copper loss until the average copper loss is equal to the average copper loss upper limit, the copper loss factor is the optimal copper loss factor at the moment, and the optimal copper loss factor is brought into a phase current reference value under the condition of phase-lacking fault tolerant operation considering current commutation and copper loss, so that the optimal phase current reference value under the condition of phase-lacking fault tolerant operation considering current commutation and copper loss can be obtained;
and for the open-circuit fault of the switching tube, implementing a two-mode fault-tolerant control method for the open-circuit fault of the switching tube to realize fault-tolerant control based on the phase current reference value during the phase-missing fault-tolerant operation.
2. The open-circuit fault tolerance control method for the three-phase permanent magnet synchronous motor driving system according to claim 1, characterized in that: the dq axis current expression and the torque formula of the surface-mounted permanent magnet synchronous motor are specifically based on the operation of a phase-loss fault:
3. The open-circuit fault-tolerant control method for the three-phase permanent magnet synchronous motor driving system according to claim 2, characterized in that: dq axis current expression during open-phase fault operation, torque formula of surface-mounted permanent magnet synchronous motor, current suppression requirement and motor torque instruction
The phase current reference value obtained during the phase-missing fault-tolerant operation is specifically as follows:
wherein->
For considering only motor torque commands>
Obtaining a phase current reference value during phase-missing fault-tolerant operation;
The phase current reference value is a phase current reference value added with current suppression requirements during open-phase fault-tolerant operation; i is max The maximum current amplitude of the motor current.
4. The open-circuit fault-tolerant control method of the three-phase permanent magnet synchronous motor driving system according to claim 3, characterized in that: the minimum required time for current commutation specifically comprises:
wherein T is ct The minimum commutation time; l is a radical of an alcohol s A motor stator inductor; u shape dc Is the dc bus voltage.
5. The open-circuit fault-tolerant control method for the three-phase permanent magnet synchronous motor driving system according to claim 4, characterized in that: the current commutation angle is specifically as follows: theta c ＝ω e T ct (ii) a Wherein theta is c Is the current commutation angle; omega e Is the electrical angular velocity of the motor.
6. The open-circuit fault-tolerant control method for the three-phase permanent magnet synchronous motor driving system according to claim 5, characterized in that: the phase current reference values considering current commutation are specifically:
wherein->
Phase current reference values to account for current commutation;
A current reference value to satisfy current commutation;
The power turning point for which the phase current reference value is increased after taking into account the current commutation.
7. The open-circuit fault-tolerant control method for the three-phase permanent magnet synchronous motor driving system according to claim 6, characterized in that: obtaining an expression of a copper loss factor through the average copper loss power and the mechanical power, wherein the expression specifically comprises the following steps:
wherein P is cu 、P Te Average copper loss power and mechanical power respectively; r s A motor stator resistor; n is the motor speed; r Cu Is a copper loss factor.
8. The open-circuit fault-tolerant control method for the three-phase permanent magnet synchronous motor driving system according to claim 7, characterized in that: the phase current reference value under the condition of phase-lack fault-tolerant operation considering copper loss and current commutation specifically comprises the following steps:
wherein +>
Phase current reference values to account for copper losses;
The phase current reference value under the condition of phase-lacking fault-tolerant operation considering copper loss and current commutation is provided.
9. The open-circuit fault-tolerant control method for the three-phase permanent magnet synchronous motor driving system according to claim 8, characterized in that: the average copper loss under the phase-failure fault-tolerant operation is as follows:
wherein->
Respectively, turning points of the phase current reference value after considering copper loss.
10. The open-circuit fault tolerant control of a three-phase PMSM drive system according to claim 9The method is characterized by comprising the following steps: the initial value of the copper loss factor is specifically as follows:
wherein C is cu_in Expressed as the initial value of the copper loss factor; />
When the open-phase fault-tolerant control is in operation, a PI controller is introduced to calculate an optimal copper loss factor, the maximum value of the copper loss factor is the copper loss factor considering current commutation, when the average copper loss exceeds the upper limit value of the copper loss factor, the copper loss factor is reduced to reduce the average copper loss until the average copper loss is equal to the upper limit value of the average copper loss, and the copper loss factor is the optimal copper loss factor;
the switch tube open circuit fault two-mode fault-tolerant control method is adopted; assuming that an a-phase tube fault occurs, in a normal operation mode, the current reference value is unchanged, and in a fault operation mode, the current reference value is equal to the default-phase fault-tolerant current reference value, specifically:
wherein->
Respectively a dq axis reference current when the switching tube is in open-circuit fault-tolerant operation; sin theta e >0 indicates that the motor is in normal operation; sin theta e <0 represents that the motor is in fault-tolerant operation;
for a switching tube fault: during fault tolerant operation, the average copper loss does not exceed its threshold, so the optimal copper loss factor is equal to the initial value of the copper loss factor.
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